Behavior detection method and device of mobile carrier, electronic equipment and storage medium

Abstract

The invention relates to a behavior detection method and device of a mobile carrier, electronic equipment and a storage medium. The method comprises the following steps: acquiring movement information of the mobile carrier; determining a target road section area from a road network database according to the movement information; the road network database comprises road information of each road section obtained by segmenting an actual road; and determining whether the mobile carrier has an abnormal behavior according to the target road information and the movement information of the target road section area. By adopting the behavior detection method of the mobile carrier provided by the invention, the abnormal behavior of the mobile carrier can be detected more accurately.

Description

Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a method, device, electronic device and storage medium for detecting the behavior of a mobile carrier. Background Art

[0002] In modern transportation systems, dangerous and illegal behaviors such as driving in the wrong lane, driving in the wrong direction, and crossing the line often occur due to driver negligence, lack of driving experience, cognitive errors, etc. When vehicles drive in the wrong direction or into the traffic flow, it not only increases the risk of accidents, but also brings trouble and danger to other road users. Therefore, it is very important to monitor whether there is driving in the wrong direction, driving in the wrong direction, or crossing the line.

[0003] In traditional technology, traffic cameras on the road or cameras on vehicles are used to make real-time judgments on the road to determine whether the vehicle has engaged in dangerous behaviors such as occupying the road, driving against the flow, or crossing the line. However, the accuracy of determining whether the vehicle has engaged in various dangerous behaviors is low. Summary of the invention

[0004] Based on this, it is necessary to provide a behavior detection method, device, electronic device and storage medium for a mobile carrier that can accurately detect whether a vehicle has various abnormal behaviors in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a behavior method of a mobile carrier, the method comprising:

[0006] Obtaining mobile information of mobile carrier;

[0007] Determine the target road section area from the road network database according to the movement information; the road network database includes the road information of each road section area obtained by segmenting the actual road;

[0008] According to the target road information and movement information of the target road section area, it is determined whether the mobile carrier has abnormal behavior.

[0009] In a second aspect, the present application further provides a behavior detection device for a mobile carrier, the device comprising:

[0010] An acquisition module, used for acquiring movement information of a mobile carrier;

[0011] A determination module is used to determine the target road section area from a road network database according to the movement information; the road network database includes road information of each road section area obtained by segmenting the actual road;

[0012] The determination module is also used to determine whether the mobile carrier has abnormal behavior based on the target road information and movement information of the target road section area.

[0013] In a third aspect, the present application further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method provided in the first aspect when executing the computer program.

[0014] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method provided in the first aspect when the computer program is executed by a processor.

[0015] In a fifth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of the method provided in the first aspect when executed by a processor.

[0016] The above-mentioned method, device, electronic device and storage medium for detecting the behavior of a mobile carrier, the method obtains the movement information of the mobile carrier; determines the target road section area from the road network database according to the movement information; the road network database includes the road information of each road section area obtained by segmenting the actual road; and determines whether the mobile carrier has abnormal behavior according to the target road information and movement information of the target road section area. In this embodiment, it is determined whether the mobile carrier has abnormal behavior according to the target road information and movement information of the target road section area, wherein the target road information is the road information obtained from the road network database after the actual road is segmented, which has higher accuracy than the road information obtained by the traditional technology through the camera, so that it can more accurately detect whether the mobile carrier has abnormal behavior, thereby effectively reducing the risk of traffic accidents and improving road safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A diagram showing an application environment of a method for detecting a behavior of a mobile carrier in an embodiment;

[0018] Figure 2 is an application environment diagram of a method for detecting a behavior of a mobile carrier in another embodiment;

[0019] Figure 3 A schematic diagram of a flow chart of steps of a method for detecting a behavior of a mobile carrier in one embodiment;

[0020] Figure 4 A schematic diagram of a flow chart of steps of a method for detecting a behavior of a mobile carrier in another embodiment;

[0021] Figure 5 A schematic diagram of a flow chart of steps of a method for detecting a behavior of a mobile carrier in another embodiment;

[0022] Figure 6 A schematic diagram of a flow chart of steps of a method for detecting a behavior of a mobile carrier in another embodiment;

[0023] Figure 7 A schematic diagram of marking road information in a road network database in an embodiment;

[0024] Figure 8 A schematic diagram of marking road information in a road network database in another embodiment;

[0025] Fig. 9 A schematic diagram of a flow chart of steps of a method for detecting a behavior of a mobile carrier in another embodiment;

[0026] Fig.10 A schematic diagram of a flow chart of steps of a method for detecting a behavior of a mobile carrier in another embodiment;

[0027] Fig.11 A schematic diagram of a flow chart of steps of a method for detecting a behavior of a mobile carrier in another embodiment;

[0028] Fig.12 A schematic diagram of a flow chart of steps of a method for detecting a behavior of a mobile carrier in another embodiment;

[0029] Fig.13 A schematic diagram of a flow chart of steps of a method for detecting a behavior of a mobile carrier in another embodiment;

[0030] Fig.14 A schematic diagram of a flow chart of steps of a method for detecting a behavior of a mobile carrier in another embodiment;

[0031] Fig.15 A schematic diagram of a flow chart of steps of a method for detecting a behavior of a mobile carrier in another embodiment;

[0032] Fig.16 is a schematic structural diagram of a behavior detection device for a mobile carrier in one embodiment;

[0033] Fig.17 FIG. 1 is a schematic diagram of the structure of an electronic device in an embodiment. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] First, before specifically introducing the technical solutions of the disclosed embodiments of the present application, the background technology or technical evolution context based on the embodiments of the present application is introduced. In modern traffic systems, due to the negligence of drivers, lack of driving experience and cognitive errors, dangerous and illegal behaviors such as vehicles occupying the road, driving in the opposite direction and crossing the line often occur. When a vehicle occupies the road or drives into the traffic flow in the opposite direction, it will not only increase the risk of accidents, but also cause troubles and dangers to users on other roads. Therefore, it is very important to detect whether the vehicle in motion has occupied the road, reversed or crossed the line. In traditional technology, the driving vehicle is mainly detected by traffic cameras on the road, or the road signs ahead are judged in real time by the camera on the vehicle to determine whether the driving vehicle has dangerous behaviors such as occupying the road, reversed or crossed the line. However, installing a large number of cameras on the road or on the driving vehicle has the problems of high cost and difficult maintenance. Moreover, in the case of complex road topology, dense traffic or at night, the methods in traditional technology cannot accurately detect behaviors such as occupying the road, reversed or crossed the line. In this regard, the present application provides a behavior monitoring method for a mobile carrier.

[0036] The technical solution of the present application and how the technical solution of the present application solves the technical problem are described in detail below with specific embodiments.

[0037] The behavior detection method of the mobile carrier provided in this application can also be applied to Figure 1In the electronic device shown, the electronic device is arranged on a mobile carrier, and the electronic device includes a positioning unit 211, a speed measuring unit 213, an execution unit 214, one or more processors 215 and one or more memories 216. The positioning unit 211, the speed measuring unit 213 and the execution unit 214 are connected to the processor 215 and the memory 216 through bus communication. The positioning unit 211 is used to obtain the position information of the mobile carrier and transmit the position information to the processor 215. The position information may include position coordinates and / or heading information (heading angle). The positioning unit 211 can use a real-time kinematic (RTK) algorithm to obtain more accurate position information. The speed measuring unit 213 is used to obtain the driving speed of the mobile carrier and transmit the driving speed to the processor 215. The execution unit 214 is used to perform related operations when it is obtained that the mobile carrier has road occupation behavior, reverse behavior and line crossing behavior. The memory 216 stores relevant programs for detecting the behavior of the mobile carrier and the required road network database. The processor 215 is used to receive the location information transmitted by the positioning unit 211, the driving speed transmitted by the speed measuring unit 213, and execute the relevant program in the memory 216 to detect the behavior of the mobile carrier, and control the execution unit 214 to perform relevant operations after obtaining the detection result. In this way, the behavior is detected by the electronic device carried by the mobile carrier, and all data acquisition and processing are calculated and completed in the electronic device of the mobile carrier, which can reduce the effective data transmission link, thereby improving the detection frequency and response speed.

[0038] The behavior detection method of the mobile carrier provided in this application can also be applied to Figure 2 In the system architecture shown, the system architecture includes a single vehicle end 101, a processing platform 102 and a storage server 103. Among them, the single vehicle end 101 can be a non-motor vehicle or a motor vehicle such as a pedal bicycle, an electric bicycle, or a motorcycle. The processing platform can be an industrial computer, a laptop computer, a tablet computer, and a detection server. The storage server 103 can be an independent server or a server cluster composed of multiple servers. Among them, the single vehicle end 101 is provided with a communication component, which can communicate with the processing platform 102 through the Internet of Things. The processing platform 102 and the storage server 103 can communicate wirelessly or wired. This embodiment does not limit the communication method between the single vehicle end 101, the processing platform 102 and the storage server 103. The single vehicle end 101 is used to obtain the mobile information of the mobile carrier and transmit the mobile information to the processing platform 102. The storage server 103 stores a pre-set road network database. The single vehicle end 101 is provided with the following Figure 1The electronic device shown in the figure also includes a network communication unit 212, which is connected to the processor 215 through a bus, and can communicate with the processing platform 102 through the processor 215. In this system, the road network database is stored in the storage server 103, and the memory 216 in the electronic device of the single vehicle end 101 may not store the road network database. After receiving the position information and the driving speed, the processor 215 will transmit it to the processing platform 102 through the network communication unit 212, and the processing platform 102 will detect the behavior of the mobile carrier according to the received position information and driving speed. In this way, a large amount of calculation and processing is implemented in the processing platform 102, and the road network database is stored in the storage server 103, which can improve the detection efficiency.

[0039] In one embodiment, Figure 3 As shown, a method for detecting the behavior of a mobile carrier is provided, which can be applied to Figure 1 The processor shown can also be applied to Figure 2 In the processing platform shown. This embodiment is illustrated by applying the method to the processing platform. In this embodiment, the method includes the following steps:

[0040] Step 300: Obtain mobile information of the mobile carrier.

[0041] The mobile carrier may be a non-motorized vehicle such as a bicycle, an electric bicycle, a motorcycle, or a motorized vehicle, and may also be a person. The movement information of the mobile carrier may be the movement information of the mobile carrier obtained by a detection device carried by the mobile carrier. Figure 1 The electronic device shown can obtain the movement information through the processor in the electronic device and transmit the movement information to the processing platform. For non-motorized vehicles and drivers, the computer devices (such as smart phones and portable wearable devices) brought by the driver and the driver include: Figure 1 The electronic device shown can obtain the movement information through the processor in the electronic device and transmit the movement information to the processing platform. The processing platform can receive the movement information of the mobile carrier transmitted by the electronic device.

[0042] The mobile information refers to the latitude and longitude information (position coordinates) and driving speed of the mobile carrier during its driving process. This embodiment does not limit the specific content of the mobile information as long as its function can be achieved.

[0043] Step 310: determine the target road section area from the road network database according to the movement information; the road network database includes road information of each road section area obtained by segmenting the actual road.

[0044] The processing platform may simultaneously obtain the road network database from the storage server during the process of obtaining the mobile information of the mobile carrier, or may obtain the road network database from the storage server after obtaining the mobile information of the mobile carrier, or may obtain the road network database from the storage server before obtaining the mobile information of the mobile carrier.

[0045] The road network database is the road information of each section area obtained by technicians in advance after segmenting the actual road. In other words, the road network database includes the road information of all section areas in the actual road. The road information may include the lane category, name, location coordinates, intersection information (stop line) and road signs of the section area. In other words, the road network database includes the section area and the road information corresponding to the section area.

[0046] After the processing platform obtains the movement information of the mobile carrier, which includes the position coordinates of the mobile carrier, the position coordinates of the mobile carrier are compared with the position coordinates of each road section area in the road network database, and the target road section area is determined from each road section area.

[0047] In an optional embodiment, the processing platform can calculate the position difference between the position coordinates of each road section area and the position coordinates of the mobile carrier, and compare the position difference with a pre-set position threshold; the road section area corresponding to the position difference less than the position threshold is determined as the target road section area.

[0048] In an optional embodiment, when acquiring the road network database, the processing platform may directly acquire the entire road network database stored in the storage server, or acquire the required road network database from the storage server according to the movement information after acquiring the movement information of the mobile carrier. In other words, the processing platform may determine the target road section area from the road network database in the storage server according to the location coordinates in the movement information, and acquire the target road section area and the target road information corresponding to the target road section area from the storage server.

[0049] Step 320: Determine whether the mobile carrier has abnormal behavior based on the target road information and movement information of the target road section area.

[0050] Abnormal behavior of a mobile carrier refers to dangerous and illegal behavior of a mobile carrier during driving. Abnormal behavior of a mobile carrier is related to the type of mobile carrier. If the mobile carrier is a motor vehicle or a non-motor vehicle, the abnormal behavior of the mobile carrier may include driving against traffic, occupying the road, running a red light, not giving way to pedestrians, etc. If the mobile carrier is a person driving, the abnormal behavior of the mobile carrier may include driving against traffic, occupying the road, running a red light, jaywalking, etc.

[0051] After determining the target road section area from the road network database, the processing platform can obtain the target road information corresponding to the target road section area, and determine whether the mobile carrier has abnormal behavior by analyzing the mobile information of the mobile carrier and the target road information. In other words, the mobile information of the mobile carrier is compared with the target road information to determine whether the mobile information of the mobile carrier matches the target road information. If the mobile information matches the target road information, it is determined that the mobile carrier does not have abnormal behavior; if the mobile information does not match the target road information, it is determined that the mobile carrier has abnormal behavior.

[0052] The behavior detection method of the mobile carrier provided in the embodiment of the present application obtains the movement information of the mobile carrier; determines the target road section area from the road network database according to the movement information; the road network database includes the road information of each road section area obtained after the actual road is segmented; and determines whether the mobile carrier has abnormal behavior according to the target road information and movement information of the target road section area. In this embodiment, it is determined whether the mobile carrier has abnormal behavior according to the target road information and movement information of the target road section area, wherein the target road information is the road information obtained from the road network database after the actual road is segmented, and has higher accuracy than the road information obtained by the camera through the traditional technology, so that it can more accurately detect whether the mobile carrier has abnormal behavior, thereby effectively reducing the risk of traffic accidents and improving road safety. In addition, the target road information in the embodiment of the present application is directly obtained from the road network database, and there is no need to install a large number of cameras on the mobile carrier or the road to obtain it, that is, no additional hardware cost is required, and it can be implemented for various complex scenes, so that the behavior detection method of the mobile carrier has higher practicality and reliability.

[0053] In one embodiment, the abnormal behavior includes at least one of lane-occupying behavior, wrong-way behavior, and line-crossing behavior.

[0054] Road-occupying behavior refers to motor vehicles driving on roads that belong to non-motor vehicles, non-motor vehicles driving on roads that belong to motor vehicles, and drivers driving on roads that belong to motor vehicles or non-motor vehicles. Reverse driving behavior refers to the direction of movement of a mobile vehicle being opposite to the direction of the road. Crossing the line behavior refers to a mobile vehicle crossing the stop line at an intersection with traffic lights when the light is red.

[0055] The processing platform can detect whether the mobile carrier has at least one of the following behaviors: occupying the road, driving against the flow, and crossing the line, based on the target road information and movement information of the target road section area. In other words, the processing platform can detect whether the mobile carrier has one or more abnormal behaviors.

[0056] In this embodiment, a variety of abnormal behaviors that may exist in a mobile carrier are provided. The behavior detection method for a mobile carrier provided by this embodiment can detect all of these abnormal behaviors, making the behavior detection method for a mobile carrier more practical.

[0057] In one embodiment, Figure 4 As shown, the method for obtaining a road network database includes the following steps:

[0058] Step 400: Segment the actual road according to a preset division method to obtain multiple road section areas.

[0059] After acquiring the image of the actual road, the processing platform segments the actual road in the actual road image according to a preset segmentation method to obtain multiple road section areas. The preset segmentation method can be set by the user according to the shape of the actual road.

[0060] Step 410: Determine the road information of each road section area according to the actual road information and generate a road network database.

[0061] The actual road information is acquired by the user in advance and transmitted to the processing platform. After obtaining the divided multiple road section areas, the processing platform records the road information of each road section area according to the actual road information and generates a road network database. The road information of each road section area may include the location coordinates, road section name, lane category, intersection information and stop line of the road section area. After generating the road network database, the processing platform transmits the road network database to the storage server for storage. This embodiment does not limit the way of recording the road information of each road section area according to the actual road information, as long as its function can be achieved.

[0062] In this embodiment, the actual road is segmented to obtain multiple road section areas, and the road information of each road section area is determined according to the actual road information to generate a road network database. The road network database generated in this way is more accurate, thereby improving the accuracy of detecting abnormal behaviors of mobile carriers.

[0063] In an optional embodiment, the method for obtaining a road network database further includes:

[0064] The storage server divides the actual road into sections according to a preset division method to obtain a plurality of road section areas; determines the road information of each road section area according to the actual road information, and generates a road network database.

[0065] In one embodiment, Figure 5 As shown, it involves a method for implementing a plurality of road section areas by segmenting an actual road according to a preset segmentation method. The steps of the implementation method include:

[0066] Step 500: Acquire an actual road image.

[0067] The actual road image may be an image of each road obtained according to the actual road map. The actual road image may be transmitted by the user and stored in the processing platform. The processing platform directly obtains the actual road image in generating the road network database.

[0068] Step 510: Segment the actual road in the actual road image according to rectangles corresponding to a preset length threshold to obtain a plurality of road section areas.

[0069] The preset length threshold may be pre-stored in the processing platform. The rectangle corresponding to the preset length threshold means that the length of one side of the rectangle is the preset length threshold, and the length of the other side of the matrix is ​​the width of the actual road. After acquiring the actual road image, the processing platform divides the actual road in the actual road image into a plurality of rectangular frames according to the preset length threshold, and one rectangular frame represents a road section area.

[0070] In an optional embodiment, the preset length threshold can be adjusted according to the actual situation of the actual road. For example, the storage platform pre-stores the correspondence between different road section types and different preset length thresholds. After obtaining the actual road image, the processing platform searches for the preset length threshold corresponding to the road section type from the correspondence according to the road section type of the actual road in the actual road image. Assume that the road type of the actual road can be a straight road section and a non-straight road section, and the preset length threshold corresponding to the straight road section is greater than the preset length threshold corresponding to the non-straight road section.

[0071] In this embodiment, the actual road in the actual road image is segmented according to rectangles corresponding to a preset length threshold to obtain a plurality of road section areas. This method of determining the road section area is quick and easy to implement.

[0072] In one embodiment, Figure 6 As shown, it involves determining the road information of each road section area according to the actual road information and generating a road network database, including:

[0073] Step 600: Determine the road information of each road section area according to the actual road information; the road information includes at least one of the position coordinates, the road section name, the lane category and the intersection information.

[0074] The method for determining the road information of each road section area according to the actual road information can refer to the description in the above embodiment, which will not be repeated here.

[0075] In an optional embodiment, the processing platform may obtain actual road information by performing recognition processing on images of actual roads, and determine the road information of each road section area based on the actual road information.

[0076] Step 610: Establish a correspondence between each road section area and the road information of the road section area to generate a road network database.

[0077] After obtaining the road information of each road section area, the processing platform binds each road section area with the road information corresponding to the road section area to establish a corresponding relationship between the road information of each road section area and the road section area, and generates a road network database.

[0078] In an optional embodiment, when each road section area is a rectangular frame, the processing platform can mark the road information corresponding to each road section area in the rectangular frame. The method for recording the road information of each road section area may include: if the road section area is a one-way lane, the road section area corresponds to a rectangular frame representing the one-way lane, with the right point of the lane direction of the one-way lane as the starting point, and marking the four end points of the rectangular frame in a counterclockwise direction, such as Figure 7 As shown, the right point in the lane direction is point A, and the other endpoints of the rectangular box in the counterclockwise direction are points B, C, and D. Record the position coordinates of the four endpoints of the rectangular box (i.e., the position coordinates of the road section area), the name of the road section where the rectangular box is located, and whether the BC end (exit line) of the rectangular box is a stop line, that is, whether there is an intersection in the rectangular box. Figure 7 The direction of the arrow in the rectangular box is the lane direction. If the road section area is a two-way lane, the rectangular box corresponding to the road section area represents the two-way lane, and the two opposite lanes, as well as the motor vehicle lane and the non-motor vehicle lane are divided by dashed lines in the rectangular box; the four endpoints of the rectangular box (point E, point F, point G and point H) and the dashed line endpoints in the rectangular box (point J, point K, point M and point N) are marked with any driving direction of the two-way lane, such as Figure 8 Record the position coordinates of the four endpoints of the rectangular frame, the name of the road section where the rectangular frame is located, and whether the FM end and the HN end of the rectangular frame are stop lines.

[0079] In this embodiment, a road network database is generated by establishing a correspondence between each road section area and the road information obtained for each road section area. This method of generating a road network database is quick, simple, and easy to implement, and can improve the efficiency of generating a road network database.

[0080] In one embodiment, it is assumed that the abnormal behavior of the mobile carrier detected by the mobile carrier behavior detection method is a reverse behavior. The target road information of the target road section area obtained from the road network database includes the lane direction angle of the target road section area. In this case, Fig. 9 As shown, it is related to an implementation method of determining whether a mobile carrier has abnormal behavior based on target road information and movement information of a target road section area, and the steps of the implementation method include:

[0081] Step 900: Obtain the heading angle of the mobile carrier according to the movement information.

[0082] The heading angle of the mobile carrier refers to the angle between the driving direction of the mobile carrier and a preset direction (usually the north direction). After obtaining the movement information of the mobile carrier, the processing platform obtains the heading angle of the mobile carrier according to the movement information.

[0083] In one embodiment, the processing platform can directly obtain the heading angle of the mobile carrier from the movement information, that is, the movement information includes the heading angle. Alternatively, the heading angle is calculated based on the position coordinates of the mobile carrier in the movement information. Fig.10 As shown, it is related to an implementation method of obtaining the heading angle of a mobile carrier according to mobile information, and the implementation method includes:

[0084] Step 101: Obtain a heading angle from movement information.

[0085] The movement information acquired by the processing platform includes the heading angle of the mobile carrier, and the heading angle can be directly acquired from the movement information. In other words, the positioning unit of the mobile carrier can directly acquire the heading angle of the mobile carrier.

[0086] Step 102: Obtain at least two position coordinates of the mobile carrier within a preset time period from the movement information; and determine the heading angle according to the at least two position coordinates.

[0087] When the mobile information obtained by the processing platform does not include the heading angle of the mobile carrier, and only the position information of the mobile carrier is obtained by the positioning unit, the processing platform obtains at least two position coordinates of the mobile carrier within a preset time period from the mobile information, and calculates the heading angle of the mobile carrier based on the at least two position coordinates.

[0088] Assume that the processing platform obtains the currently uploaded position coordinates and the currently uploaded time information of the mobile carrier, as well as the last uploaded position coordinates and the last uploaded time information of the mobile carrier from the movement information, and calculates the heading angle.

[0089] Step 910: Determine the angle deviation between the heading angle and the lane direction angle.

[0090] The lane direction angle refers to the angle between the direction of the lane and the preset direction (usually the north direction). After obtaining the heading angle, the processing platform calculates the angle deviation between the heading angle and the lane direction angle.

[0091] Step 920: Determine whether the mobile carrier has retrograde behavior based on the angle deviation and the angle threshold.

[0092] The angle threshold may be an angle threshold preset by the user. The angle deviation is used to characterize whether the driving direction of the mobile carrier is consistent with the lane direction; if they are consistent, it indicates that the mobile carrier is not going in the opposite direction; if they are inconsistent, it indicates that the mobile carrier is going in the opposite direction. The processing platform may compare the angle deviation with the angle threshold, and determine whether the driving direction of the mobile carrier is consistent with the lane direction according to the comparison result, so as to determine whether the mobile carrier is going in the opposite direction.

[0093] In one embodiment, Fig.11 As shown, it involves an implementation method of determining whether a mobile carrier has retrograde behavior according to an angle deviation and an angle threshold, and the steps of the implementation method include:

[0094] Step 110: If the angle deviation is greater than the angle threshold, it is determined that the mobile carrier has retrograde behavior.

[0095] If the processing platform compares the angle deviation and the angle threshold, and the comparison result is that the angle deviation is greater than the angle threshold, it means that the angle deviation between the driving direction of the mobile carrier and the lane direction is large, that is, the driving direction of the mobile carrier is inconsistent with the lane direction, then it is determined that the mobile carrier is performing retrograde behavior.

[0096] Step 111: If the angle deviation is not greater than the angle threshold, it is determined that the mobile carrier does not have retrograde behavior.

[0097] If the processing platform compares the angle deviation and the angle threshold, and the comparison result is that the angle deviation is not greater than (less than or equal to) the angle threshold, it means that the angle deviation between the driving direction of the mobile carrier and the lane direction is small, that is, the driving direction of the mobile carrier is consistent with the lane direction, then it is determined that the mobile carrier does not have any retrograde behavior.

[0098] In this embodiment, by comparing the angle deviation between the heading angle of the mobile carrier and the lane direction angle obtained according to the movement information with the angle threshold, it is determined whether the mobile carrier has a wrong-way behavior. This method of determining whether the mobile carrier has a wrong-way behavior is quick and easy to implement, making the behavior detection method of the mobile carrier more practical.

[0099] In one embodiment, the target road information obtained by the processing platform from the road network database includes the lane category corresponding to the target road section area. When determining whether the mobile carrier has road occupation behavior, an implementation method of determining whether the mobile carrier has abnormal behavior based on the target road information and movement information of the target road section area is involved. The implementation method includes:

[0100] According to the lane category and movement information in the target road information, determine whether the mobile carrier has any road-occupying behavior.

[0101] The lane categories in the target road information may include one-way lanes and two-way lanes, and may also include motor vehicle lanes and non-motor vehicle lanes. The detection vehicle analyzes the acquired mobile information of the mobile carrier and the lane category in the target road information to determine whether the mobile carrier has occupied the road, that is, whether the mobile carrier is in the road where it should actually be. For example, whether the motor vehicle is in the motor vehicle lane, whether the non-motor vehicle is in the non-motor vehicle lane; whether the motor vehicle is in the lane in the two-way lane whose lane direction is consistent with its driving direction.

[0102] In this embodiment, the lane type in the target road information and the movement information of the mobile carrier are used to determine whether the mobile carrier has an abnormal behavior of occupying the road. In this way, it is possible to detect whether the mobile carrier has an abnormal behavior of occupying the road, making the behavior detection method of the mobile carrier more practical.

[0103] In one embodiment, when the lane categories in the target road information include motor vehicle lanes and non-motor vehicle lanes, such as Fig.12 As shown, it is related to an implementation method of determining whether a mobile carrier has abnormal behavior according to the lane category and movement information in the target road information, and the steps of the implementation method include:

[0104] Step 120: Match the lane category with the category of the mobile carrier in the movement information; the category of the mobile carrier includes a motorized mobile carrier and a non-motorized mobile carrier.

[0105] Motor vehicles should drive in motor vehicle lanes, and non-motor vehicles should drive in non-motor vehicle lanes. The mobile information of the mobile carrier obtained by the processing platform includes the category of the mobile carrier, that is, whether the mobile carrier is a motorized mobile carrier or a non-motorized mobile carrier. The processing platform matches the category of the mobile carrier in the obtained mobile information with the lane category in the target road information to determine whether the lane category matches the category of the mobile carrier.

[0106] In an optional embodiment, the processing platform may calculate the similarity between the lane category and the category of the mobile carrier to determine whether the lane category matches the category of the mobile carrier.

[0107] Step 121: If the lane category matches the category of the mobile carrier, it is determined that the mobile carrier does not occupy the lane.

[0108] If the processing platform determines that the lane category matches the category of the mobile carrier by matching the lane category with the category of the mobile carrier, it is determined that the mobile carrier does not occupy the road. In other words, the lane category of the target road section area where the mobile carrier is located matches the category of the mobile carrier. In other words, if the lane category is a motor vehicle lane, and the mobile carrier traveling on the lane (i.e., the mobile carrier in the target road section area corresponding to the lane category) is a motorized mobile carrier, it means that the motorized mobile carrier does not occupy the road; if the lane category is a non-motor vehicle lane, and the mobile carrier traveling on the vehicle is a non-motorized mobile carrier, it means that the non-motorized mobile carrier does not occupy the road.

[0109] Step 122: If the lane category does not match the category of the mobile carrier, it is determined that the mobile carrier has occupied the lane.

[0110] If the processing platform determines that the lane category does not match the category of the mobile carrier by matching the lane category with the category of the mobile carrier, then it is determined that the mobile carrier has occupied the road. In other words, the lane category of the target road section where the mobile carrier is located does not match the category of the mobile carrier. In other words, if the lane category is a motor vehicle lane and the mobile carrier traveling on the lane is a non-motorized mobile carrier, it means that the non-motorized mobile carrier has occupied the road; if the lane category is a non-motor vehicle lane and the mobile carrier traveling on the lane is a motorized mobile carrier, it means that the motorized mobile carrier has occupied the road.

[0111] In this embodiment, by matching the category of the mobile carrier in the mobile information with the lane category in the target road information, it is determined whether the mobile carrier has occupied the road. This method of determining whether the mobile carrier has occupied the road is simple, convenient, and easy to implement, which can improve the efficiency of detecting abnormal behavior of the mobile carrier, making the behavior detection method of the mobile carrier more practical.

[0112] In one embodiment, when the lane category in the target road information includes a one-way lane and a two-way lane, an implementation method of determining whether a mobile carrier has abnormal behavior according to the lane category and movement information in the target road information includes the following steps:

[0113] If the lane type is a one-way lane, determine whether the mobile carrier has occupied the road based on the position coordinates in the movement information and the target road section area corresponding to the one-way lane.

[0114] The mobile information of the mobile carrier obtained by the processing platform includes the location coordinates, that is, the latitude and longitude information of the mobile carrier obtained by the electronic device carried by the mobile carrier. After the processing platform obtains the target road information of the target road section area, if it is determined that the lane type in the target road information is a one-way lane, it determines whether the mobile carrier has occupied the road according to the location coordinates and the target road section area corresponding to the one-way lane.

[0115] In this embodiment, when the lane type is a one-way lane, it is directly determined whether the mobile carrier has occupied the road according to the position coordinates in the movement information and the target road section area corresponding to the one-way lane. This method of determining whether the mobile carrier has occupied the road is quick and easy to implement.

[0116] In one embodiment, when the lane categories in the target road information include a one-way lane and a two-way lane, as shown in FIG. Fig.13 As shown, another implementation method of determining whether a mobile carrier has abnormal behavior according to the lane category and movement information in the target road information includes the following steps:

[0117] Step 130: If the lane type is a two-way lane, divide the two-way lane into two one-way lanes.

[0118] After the processing platform obtains the target road information of the target road section area, if it determines that the lane category in the target road information is a two-way lane, the two-way lane is divided into two one-way lanes, that is, the two-way lane can be divided into two one-way lanes with opposite lane directions.

[0119] In an optional embodiment, the processing platform may divide the two-way lane according to a solid line between the two lane directions in the two-way lane.

[0120] Step 131: Determine whether the mobile carrier has any road-occupying behavior based on the location coordinates in the movement information and the target road section area corresponding to the one-way lane.

[0121] After the processing platform divides the two-way lane into two one-way lanes, it can directly use the method of determining whether the mobile carrier has occupied the road when the lane category is a one-way lane. In other words, it determines whether the mobile carrier has occupied the road based on the position coordinates in the movement information and the target road section area corresponding to the two divided one-way lanes.

[0122] In this embodiment, when the lane type is a two-way lane, the two-way lane is divided into two one-way lanes. The method for determining whether the mobile carrier has occupied the road when the lane type is a one-way lane in the above embodiment can be used to detect whether the mobile carrier has occupied the road when the lane type is a two-way lane. In this way, when the lane type is a one-way lane and a two-way lane, the same method can be used to detect whether the mobile carrier has occupied the road, making the mobile carrier behavior detection method more practical.

[0123] In one embodiment, Fig.14 As shown, it involves an implementation method of determining whether a mobile carrier has a road-occupying behavior according to the position coordinates in the movement information and the target road section area corresponding to the one-way lane. The steps of the implementation method include:

[0124] Step 140: Determine whether the mobile carrier is in the target road section area corresponding to the one-way lane according to the position coordinates in the movement information.

[0125] The target road information also includes the position coordinates of the target road section area. Each road section area in the road network database is divided according to the lane type in the road section, and the target road section area is the area of ​​the one-way lane in the target road section.

[0126] After obtaining the position coordinates in the mobile information, that is, the position coordinates of the mobile carrier, the processing platform compares the position coordinates of the mobile carrier with the position coordinates of the target road section area corresponding to the one-way lane to determine whether the mobile carrier is in the target road section area corresponding to the one-way lane.

[0127] Step 141: If the mobile carrier is in the target road section area corresponding to the one-way lane, it is determined that the mobile carrier does not occupy the road.

[0128] If the processing platform determines that the mobile carrier is in the target road section area corresponding to the one-way lane based on the position coordinates, it means that the mobile carrier is traveling in the target road section area corresponding to the one-way lane, and then it is determined that the mobile carrier does not occupy the road.

[0129] Step 142: If the mobile carrier is outside the target road section area corresponding to the one-way lane, it is determined that the mobile carrier is occupying the road.

[0130] If the processing platform determines that the mobile carrier is outside the target road section area corresponding to the one-way lane based on the position coordinates, it means that the mobile carrier is traveling outside the target road section area corresponding to the one-way lane, and then it is determined that the mobile carrier is occupying the road.

[0131] In an optional embodiment, the processing platform can determine whether the mobile carrier is in the target road section area corresponding to the one-way lane by calculating the distance between the position coordinates of the mobile carrier and the position coordinates of the target road section area. For example, the distance between the position coordinates of the mobile carrier and the target position (the center position of the target road section area) in the target road section area is calculated. If the distance is greater than a preset distance threshold, it means that the mobile carrier is outside the target road section area, and it is determined that the mobile carrier has occupied the road; if the distance is not greater than the preset distance threshold, it means that the mobile carrier is in the target road section area, and it is determined that the mobile carrier has not occupied the road.

[0132] In an alternative embodiment, Figure 7 The lane category in the figure is a one-way lane. The mobile carrier (the position of the lane to be detected) in the figure is in the target road section area (a rectangular box composed of points A, B, C and D), which means that the mobile carrier does not occupy the road.

[0133] Please continue to see Figure 7 In an optional embodiment, the processing platform can calculate the distance S3 between the position coordinates of the mobile carrier and the AD section, and determine whether the distance is less than a preset distance threshold S; if the distance S3 is less than S, it means that the mobile carrier has just entered the AD section, that is, has just entered the entrance line of the target section area. At this time, the processing platform can control the execution unit in the mobile carrier to give a voice prompt "Entered XX section", where XX section is the section name of the target section area.

[0134] In this embodiment, by determining whether the location coordinates of the mobile information are within the target road section area corresponding to the one-way lane, it is determined whether the mobile carrier has occupied the road. This method of determining whether the mobile carrier has occupied the road is quick and easy to implement, making the mobile carrier behavior detection method more practical.

[0135] In one embodiment, Fig.15 As shown, another implementation method of determining whether a mobile carrier has abnormal behavior according to the lane category and movement information in the target road information includes the following steps:

[0136] Step 150: If the lane type is a two-way lane, obtain a first edge line and a second edge line corresponding to the two-way lane along the lane direction.

[0137] After the processing platform obtains the target road information of the target road section area, if it is determined that the lane type in the target road information is a two-way lane, the first edge line and the second edge line corresponding to the two-way lane along the lane direction in the target road information are obtained. The first edge line may refer to the road edge line on the side of the first lane away from the second lane in the two-way lane, and the second edge line may refer to the road edge line on the side of the second lane away from the first lane in the two-way lane.

[0138] Step 151: Determine a first distance between the mobile carrier and the first edge line, and a second distance between the mobile carrier and the second edge line.

[0139] After obtaining the first edge line and the second edge line corresponding to the two-way lane, the processing platform determines the first distance between the mobile carrier and the first edge line, and the second distance between the mobile carrier and the second edge line. In other words, the first distance between the position coordinates of the mobile carrier and the first edge line, i.e., the distance from the position coordinates (point) to the first edge line (line), and the second distance between the position coordinates of the mobile carrier and the second edge line, i.e., the distance from the position coordinates (point) to the second edge line (line) are calculated.

[0140] Step 152: If the first distance is greater than the first distance threshold, and the second distance is greater than the second distance threshold, it is determined that the mobile carrier does not have any road-occupying behavior.

[0141] The first distance threshold and the second distance threshold are set by the user according to the actual location of the target road section area. After obtaining the first distance between the mobile carrier and the first edge line, and the second distance between the mobile carrier and the second edge line, the processing platform compares the first distance with the first distance threshold, and compares the second distance with the second distance threshold. If the processing platform determines that the first distance is greater than the first distance threshold, and the second distance is greater than the second distance threshold, it is determined that the mobile carrier does not occupy the road.

[0142] Step 153: If the first distance is not greater than the first distance threshold, or the second distance is not greater than the second distance threshold, it is determined that the mobile carrier has occupied the road.

[0143] If the processing platform determines that the first distance is not greater than the first distance threshold or the second distance is not greater than the second distance threshold by comparing the first distance with the first distance threshold and the second distance with the second distance threshold, then it is determined that the mobile carrier has occupied the road. In other words, if the processing platform determines that the first distance is not greater than the first distance threshold, then it is determined that the mobile carrier has occupied the road; or if the processing platform determines that the second distance is not greater than the second distance threshold, then it is determined that the mobile carrier has occupied the road.

[0144] In this embodiment, when the lane type is a two-way lane, by comparing the first distance and the second distance between the mobile carrier and the first edge line and the second edge line corresponding to the two-way lane with the first distance threshold and the second distance threshold, it is determined whether the mobile carrier has occupied the road. This method of determining whether the mobile carrier has occupied the road is quick and easy to implement, making the behavior detection method of the mobile carrier more practical.

[0145] In an optional embodiment, if Figure 8 As shown, the first edge line is the EF segment, the second edge line is the GH segment, the first distance is S0, and the second distance is S1. Assume that the first distance threshold is s0, and the second distance threshold is s1. If S0>s0 and S1>s1 are satisfied, it means that the mobile carrier does not occupy the road; otherwise, the mobile carrier does occupy the road. The processing platform can calculate the distance between the position coordinates of the mobile carrier and the NE segment, and determine whether the distance is less than the preset distance threshold; if the distance is less than the preset distance threshold, it means that the mobile carrier has just entered the NE segment, that is, it has just entered the entrance line of the target road section area. At this time, the processing platform can control the execution unit in the mobile carrier to give a voice prompt "Entered XX section", and XX section is the name of the section of the target road section area.

[0146] In one embodiment, the target road information of the target road section area obtained from the road network database includes intersection information and traffic light information, and the movement information includes the speed of the mobile carrier. The intersection information is used to indicate whether there is an intersection in the target road section area. The traffic light information is used to indicate whether there is traffic light information at the intersection and whether the mobile carrier needs to stop at the intersection. In this case, it involves an implementation method of determining whether the mobile carrier has abnormal behavior based on the target road information and movement information of the target road section area, and the implementation method includes:

[0147] If the intersection information indicates that there is an intersection in the target road section area, and the traffic light information indicates that there is a traffic light at the intersection, and the intersection requires the mobile carrier to stop, it is determined whether the mobile carrier has crossed the line based on the speed and traffic light information.

[0148] After obtaining the target road information of the target road section area, the processing platform determines the intersection information and traffic light information. If the processing platform determines that the intersection information indicates that there is an intersection in the target road section area, and the traffic light information indicates that there is a traffic light at the intersection, and the traffic light is red, that is, the mobile carrier needs to stop at the intersection, then it is determined based on the speed whether the mobile carrier has crossed the line, that is, whether the mobile carrier will run a red light if it continues to travel at this speed.

[0149] In an optional embodiment, if Figure 7As shown, the intersection information of the target road section area includes a stop line. The processing platform obtains a third distance S2 by calculating the distance between the position coordinates of the mobile carrier and the stop line; based on the third distance and the speed of the mobile carrier, it is determined whether the mobile carrier has crossed the line. If the traffic light is still red after the mobile carrier moves the third distance at the speed, that is, the distance moved by the mobile carrier at the speed during the countdown time of the red light is greater than the third distance, it is determined that the mobile carrier has crossed the line; if the traffic light is green after the mobile carrier moves the third distance at the speed, that is, the distance moved by the mobile carrier at the speed during the countdown time of the red light is less than the third distance, it is determined that the mobile carrier has not crossed the line.

[0150] In this embodiment, the intersection information and traffic light information obtained from the road network database and the speed of the mobile carrier are used to determine whether the mobile carrier has crossed the line. In this way, it is possible to detect whether the mobile carrier has crossed the line, and the detection method is fast and easy to implement, making the mobile carrier behavior detection method more practical.

[0151] In one embodiment, the steps of the mobile carrier behavior detection method further include:

[0152] If it is determined that the mobile carrier has abnormal behavior, a target operation is performed according to the abnormal behavior; the target operation includes at least one of voice warning, controlling the mobile carrier to decelerate, and controlling the mobile carrier to brake.

[0153] When the processing platform determines that the mobile carrier has abnormal behavior based on the target road section information and movement information of the target road section area, the target operation is performed according to the abnormal behavior. The target operation performed can be the same or different for different abnormal behaviors of the mobile carrier. Assuming that the abnormal behavior is road occupation, the target operation can be a voice warning; if the abnormal behavior is reverse driving, the target operation can be a voice warning and controlling the mobile carrier to slow down; if the abnormal behavior is crossing the line, the target operation can be controlling the mobile carrier to search or controlling the mobile carrier to brake.

[0154] In this embodiment, when it is determined that the mobile carrier has abnormal behavior, the mobile carrier is controlled to perform related operations. This can promptly remind the driver of abnormal behavior, or promptly perform deceleration or braking operations on the mobile carrier, effectively reducing the risk of traffic accidents and improving road safety.

[0155] An embodiment of the present application provides a method for detecting the behavior of a mobile carrier, the method comprising the following steps:

[0156] S1. Segment the actual road according to a preset division method to obtain multiple road section areas;

[0157] S2. Determine the road information of each road section area according to the actual road information and generate a road network database;

[0158] S3, obtaining the movement information of the mobile carrier; the movement information includes the position coordinates, heading angle, speed and type of the mobile carrier;

[0159] S4, determining the target road section area from the road network database according to the location coordinates of the mobile information, and obtaining the target road information of the target road section area; the target road information includes the location coordinates of the target road section area, lane type, intersection information and traffic light information;

[0160] S5. determining an angle deviation between the heading angle and the lane direction;

[0161] S6. If the angle deviation is greater than the angle threshold, it is determined that the mobile carrier has retrograde behavior;

[0162] S7. If the angle deviation is not greater than the angle threshold, it is determined that the mobile carrier does not have retrograde behavior;

[0163] S8. If the lane type is a one-way lane, determine whether the mobile carrier is in the target road section area corresponding to the one-way lane;

[0164] S9. If the mobile carrier is in the target road section area corresponding to the one-way lane, it is determined that the mobile carrier does not occupy the road;

[0165] S10: If the mobile carrier is outside the target road section area corresponding to the one-way lane, it is determined that the mobile carrier has occupied the road;

[0166] S11. If the lane type is a two-way lane, obtain a first edge line and a second edge line corresponding to the two-way lane along the lane direction;

[0167] S12, determining a first distance between the mobile carrier and the first edge line, and a second distance between the mobile carrier and the second edge line;

[0168] S13: If the first distance is greater than the first distance threshold, and the second distance is greater than the second distance threshold, it is determined that the mobile carrier does not have any road-occupying behavior;

[0169] S14. If the first distance is not greater than the first distance threshold, or the second distance is not greater than the second distance threshold, it is determined that the mobile carrier has occupied the road;

[0170] S15. If the intersection information indicates that there is an intersection in the target road section area, and the traffic light information indicates that there is a traffic light at the intersection, and the intersection requires the mobile carrier to stop, determine whether the mobile carrier has crossed the line based on the speed.

[0171] S16. If it is determined that the mobile carrier has at least one of the behaviors of going against the flow, occupying the lane and crossing the line, the mobile carrier is controlled to perform a target operation; the target operation includes at least one of a voice warning, controlling the mobile carrier to decelerate and controlling the mobile carrier to brake.

[0172] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0173] Based on the same inventive concept, the embodiment of the present application also provides a mobile carrier behavior detection device for implementing the mobile carrier behavior detection method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiment of the one or more mobile carrier behavior detection devices provided below can refer to the limitations of the mobile carrier behavior detection method above, and will not be repeated here.

[0174] In one embodiment, Fig.16 As shown, a mobile carrier behavior detection device 10 is provided, comprising: an acquisition module 11 and a determination module, wherein:

[0175] The acquisition module 11 is used to acquire the mobile information of the mobile carrier.

[0176] The determination module 12 is used to determine the target road section area from the road network database according to the movement information; the road network database includes the road information of each road section area obtained by segmenting the actual road.

[0177] The determination module 12 is further used to determine whether the mobile carrier has abnormal behavior according to the target road information and movement information of the target road section area.

[0178] In one embodiment, the behavior includes at least one of occupying the lane, driving against the flow, and crossing the line.

[0179] In one embodiment, the determination module 12 includes a first determination unit, and the first determination unit includes an acquisition subunit and a first determination subunit. The acquisition subunit is used to acquire the heading angle of the mobile carrier according to the movement information; the first determination subunit is used to determine the angle deviation between the heading angle and the lane direction angle; and according to the angle deviation and the angle threshold, it is determined whether the mobile carrier has a wrong-way behavior.

[0180] In one embodiment, the first determining subunit is specifically configured to determine that the mobile carrier has the retrograde behavior if the angle deviation is greater than the angle threshold; and determine that the mobile carrier has no retrograde behavior if the angle deviation is not greater than the angle threshold.

[0181] In one embodiment, the acquisition subunit is specifically used to acquire the heading angle from the movement information; or, acquire at least two position coordinates of the mobile carrier within a preset time period from the movement information; and determine the heading angle according to the at least two position coordinates.

[0182] In one embodiment, the determination module includes a second determination unit, and the second determination unit is used to determine whether the mobile carrier has a road-occupying behavior according to the lane category and movement information in the target road information.

[0183] In one embodiment, the second determination unit includes a matching subunit. The matching subunit is used to match the lane category with the category of the mobile carrier in the movement information; the category of the mobile carrier includes a motorized mobile carrier and a non-motorized mobile carrier; if the lane category matches the category of the mobile carrier, it is determined that the mobile carrier does not occupy the road; if the lane category does not match the category of the mobile carrier, it is determined that the mobile carrier does occupy the road.

[0184] In one embodiment, the second determination unit includes a second determination subunit. The second determination subunit is used to determine whether the mobile carrier has road occupation behavior according to the position coordinates in the movement information and the target road section area corresponding to the one-way lane if the lane type is a one-way lane.

[0185] In one embodiment, the second determination subunit is specifically used to divide the two-way lane into two one-way lanes if the lane category is a two-way lane; and determine whether the mobile carrier has any road occupation behavior based on the position coordinates in the movement information and the target road section area corresponding to the one-way lane.

[0186] In one embodiment, the second determination subunit is specifically used to determine whether the mobile carrier is in the target road section area corresponding to the one-way lane based on the position coordinates in the movement information; if the mobile carrier is in the target road section area corresponding to the one-way lane, it is determined that the mobile carrier does not occupy the road; if the mobile carrier is outside the target road section area corresponding to the one-way lane, it is determined that the mobile carrier does occupy the road.

[0187] In one embodiment, the second determination unit includes a third determination subunit. The third determination subunit is used to obtain the first edge line and the second edge line corresponding to the two-way lane along the lane direction if the lane category is a two-way lane; determine the first distance between the mobile carrier and the first edge line, and the second distance between the mobile carrier and the second edge line; if the first distance is greater than the first distance threshold, and the second distance is greater than the second distance threshold, determine that the mobile carrier does not occupy the road; if the first distance is not greater than the first distance threshold, or the second distance is not greater than the second distance threshold, determine that the mobile carrier has occupied the road.

[0188] In one embodiment, the determination module 12 includes a third determination unit. The third determination unit is used to determine whether the mobile carrier has crossed the line according to the speed if the intersection information indicates that there is an intersection in the target road section area, the traffic light information indicates that there is a traffic light at the intersection, and the intersection requires the mobile carrier to stop.

[0189] In one embodiment, the behavior detection device for the mobile carrier further includes an execution module. The execution module is used to execute a target operation according to the abnormal behavior if it is determined that the mobile carrier has abnormal behavior; the target operation includes at least one of voice warning, controlling the mobile carrier to decelerate, and controlling the mobile carrier to brake.

[0190] In one embodiment, the acquisition module 11 is further used to segment the actual road according to a preset division method to obtain multiple road section areas; determine the road information of each road section area according to the actual road information, and generate a road network database.

[0191] In one embodiment, the acquisition module 11 is specifically used to acquire an actual road image; segment the actual road in the actual road image according to rectangles corresponding to a preset length threshold to obtain a plurality of road section areas.

[0192] In one embodiment, the acquisition module 11 is also specifically used to determine the road information of each road section area based on the actual road information; the road information includes at least one of the location coordinates, road section name, lane category and intersection information; establish a correspondence between each road section area and the road information of each road section area, and generate a road network database.

[0193] Each module in the above-mentioned mobile carrier behavior detection device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in an electronic device in the form of hardware, or can be stored in a memory in an electronic device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0194] In one embodiment, an electronic device is provided, whose internal structure diagram can be as follows: Fig.17As shown. The electronic device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the electronic device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a behavior detection method for a mobile carrier is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0195] Those skilled in the art will understand that Fig.17 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0196] In one embodiment, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0197] Obtaining mobile information of mobile carrier;

[0198] Determine the target road section area from the road network database according to the movement information; the road network database includes the road information of each road section area obtained by segmenting the actual road;

[0199] According to the target road information and movement information of the target road section area, it is determined whether the mobile carrier has abnormal behavior.

[0200] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0201] Obtaining mobile information of mobile carrier;

[0202] Determine the target road section area from the road network database according to the movement information; the road network database includes the road information of each road section area obtained by segmenting the actual road;

[0203] According to the target road information and movement information of the target road section area, it is determined whether the mobile carrier has abnormal behavior.

[0204] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0205] Obtaining mobile information of mobile carrier;

[0206] Determine the target road section area from the road network database according to the movement information; the road network database includes the road information of each road section area obtained by segmenting the actual road;

[0207] According to the target road information and movement information of the target road section area, it is determined whether the mobile carrier has abnormal behavior.

[0208] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0209] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0210] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for detecting the behavior of a mobile carrier, characterized in that: The method comprises: Obtaining mobile information of mobile carrier; Determine the target road section area from a road network database according to the movement information; the road network database includes road information of each road section area obtained by segmenting the actual road; It is determined whether the mobile carrier has abnormal behavior according to the target road information of the target road section area and the movement information.

2. The method according to claim 1, characterized in that The abnormal behavior includes at least one of occupying the lane, driving against the flow and crossing the line.

3. The method according to claim 2, characterized in that The target road information includes a lane direction angle of a target road section area, and determining whether the mobile carrier has abnormal behavior according to the target road information of the target road section area and the movement information includes: Acquiring the heading angle of the mobile carrier according to the movement information; Determining an angular deviation between the heading angle and the lane direction angle; It is determined whether the mobile carrier has the retrograde behavior according to the angle deviation and the angle threshold.

4. The method according to claim 3, characterized in that The determining, according to the angle deviation and the angle threshold, whether the mobile carrier has the retrograde behavior comprises: If the angle deviation is greater than the angle threshold, it is determined that the mobile carrier has the retrograde behavior; If the angle deviation is not greater than the angle threshold, it is determined that the mobile carrier does not have the retrograde behavior.

5. The method according to claim 4, characterized in that The acquiring the heading angle of the mobile carrier according to the movement information includes: Acquire the heading angle from the movement information; Alternatively, at least two position coordinates of the mobile carrier within a preset time period are acquired from the movement information; and the heading angle is determined according to the at least two position coordinates.

6. The method according to claim 2, characterized in that The determining, based on the target road information and the movement information of the target road section area, whether the mobile carrier has abnormal behavior includes: It is determined whether the mobile carrier has the road occupying behavior according to the lane type in the target road information and the movement information.

7. The method according to claim 6, characterized in that The lane category includes a motor vehicle lane and a non-motor vehicle lane, and determining whether the mobile carrier has abnormal behavior according to the lane category in the target road information and the movement information includes: Matching the lane category with the category of the mobile carrier in the movement information; the category of the mobile carrier includes a motorized mobile carrier and a non-motorized mobile carrier; If the lane category matches the category of the mobile carrier, it is determined that the mobile carrier does not have any road-occupying behavior; If the lane category does not match the category of the mobile carrier, it is determined that the mobile carrier has the lane occupying behavior.

8. The method according to claim 6, characterized in that The determining, according to the lane category in the target road information and the movement information, whether the mobile carrier has abnormal behavior includes: If the lane type is a one-way lane, it is determined whether the mobile carrier has the road occupying behavior based on the position coordinates in the movement information and the target road section area corresponding to the one-way lane.

9. The method according to claim 6, characterized in that The determining, according to the lane category in the target road information and the movement information, whether the mobile carrier has abnormal behavior includes: If the lane type is a two-way lane, the two-way lane is divided into two one-way lanes; According to the position coordinates in the movement information and the target road section area corresponding to the one-way lane, it is determined whether the mobile carrier has the road occupying behavior.

10. The method according to claim 8 or 9, characterized in that: The determining, according to the position coordinates in the movement information and the target road section area corresponding to the one-way lane, whether the mobile carrier has a road-occupying behavior includes: Determining whether the mobile carrier is in a target road section area corresponding to the one-way lane according to the position coordinates in the movement information; If the mobile carrier is in the target road section area corresponding to the one-way lane, it is determined that the mobile carrier does not have the road occupying behavior; If the mobile carrier is outside the target road section area corresponding to the one-way lane, it is determined that the mobile carrier has the road occupying behavior.

11. The method according to claim 6, characterized in that The determining, according to the lane category in the target road information and the movement information, whether the mobile carrier has abnormal behavior includes: If the lane type is a two-way lane, obtaining a first edge line and a second edge line corresponding to the two-way lane along the lane direction; determining a first distance between the mobile carrier and the first edge line, and a second distance between the mobile carrier and the second edge line; If the first distance is greater than a first distance threshold, and the second distance is greater than a second distance threshold, it is determined that the mobile carrier does not have the road-occupying behavior; If the first distance is not greater than the first distance threshold, or the second distance is not greater than the second distance threshold, it is determined that the mobile carrier has the road-occupying behavior.

12. The method according to claim 2, characterized in that: The target road information includes intersection information and traffic light information, the movement information includes the speed of the mobile carrier, and determining whether the mobile carrier has abnormal behavior according to the target road information and the movement information of the target road section area includes: If the intersection information indicates that there is an intersection in the target road section area, and the traffic light information indicates that there is a traffic light at the intersection, and the intersection requires the mobile carrier to stop, it is determined whether the mobile carrier has the line crossing behavior according to the speed.

13. The method according to any one of claims 1 to 9, characterized in that The method further comprises: If it is determined that the mobile carrier has abnormal behavior, a target operation is performed according to the abnormal behavior; the target operation includes at least one of voice warning, controlling the mobile carrier to decelerate, and controlling the mobile carrier to brake.

14. The method according to any one of claims 1 to 9, characterized in that Methods for obtaining the road network database include: Segmenting the actual road according to a preset division method to obtain a plurality of road section areas; The road information of each of the road sections is determined according to the actual road information, and the road network database is generated.

15. The method according to claim 14, characterized in that The actual road is segmented according to a preset segmentation method to obtain a plurality of road section areas, including: Acquire actual road images; The actual road in the actual road image is segmented according to rectangles corresponding to a preset length threshold to obtain a plurality of road section areas.

16. The method according to claim 14, characterized in that Determining the road information of each of the road sections according to the actual road information and generating the road network database comprises: Determine the road information of each of the road section areas according to the actual road information; the road information includes at least one of position coordinates, road section name, lane category and intersection information; A corresponding relationship between each of the road section areas and the road information of each of the road section areas is established to generate the road network database.

17. A behavior detection device for a mobile carrier, characterized in that: The device comprises: An acquisition module, used for acquiring movement information of a mobile carrier; A determination module, used to determine a target road section area from a road network database according to the movement information; the road network database includes road information of each road section area obtained by segmenting the actual road; The determination module is further used to determine whether the mobile carrier has abnormal behavior based on the target road information of the target road section area and the movement information.

18. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 16 are implemented.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 16 are implemented.

20. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 16 are implemented.

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