Vehicle illegal behavior detection method and detection device

Abstract

The invention provides a vehicle illegal behavior detection method and device. The detection method comprises the following steps: acquiring radar detection data; controlling the radar to track the target; according to the speed change and the position change of the target in continuous preset time, judging whether the target has illegal events: if so, reporting the illegal events of the target to an event processing system, and applying for the control right of a camera corresponding to the radar; and acquiring a preset point of the camera according to the distance between the radar and the camera, storing videos of the camera within a preset time before and after the illegal event is triggered according to the preset point, and intercepting pictures during the triggering period of the illegal event to generate image data of the illegal event. According to the invention, whether the target has the illegal behavior can be judged according to the data detected by the radar, and the corresponding camera is controlled and the illegal process is recorded when the target is detected to have the illegal behavior, so that the detection efficiency of the highway illegal event can be improved, and the pressure brought by manual inspection can be relieved.

Description

TECHNICAL FIELD

[0001] The present application relates to a vehicle illegal behavior detection method, and in particular to a vehicle illegal behavior detection method, a vehicle illegal behavior detection device, a non-transitory computer readable storage medium and a computer device. BACKGROUND

[0002] At present, ball machine cameras are mainly used on highways to monitor the road, and manual inspection is mainly used to detect high-speed illegal behaviors.

[0003] However, manual inspection has certain gaps, which will lead to missed detection, and most cameras on the highway will maintain long focus to ensure that they can cover a wide enough range, which will increase the work pressure and operation time of the inspection personnel. SUMMARY

[0004] To solve the above technical problems, the first purpose of the present application is to provide a vehicle illegal behavior detection method.

[0005] The second purpose of the present application is to provide a vehicle illegal behavior detection device.

[0006] The third purpose of the present application is to provide a non-transitory computer readable storage medium.

[0007] The fourth purpose of the present application is to provide a computer device.

[0008] The technical scheme adopted by the present application is as follows:

[0009] The first aspect of the embodiment of the present application provides a vehicle illegal behavior detection method, comprising the following steps: when a radar detects a target, acquiring the data detected by the radar, the data including the position and speed of the target; predicting the next frame position of the target according to the data, and controlling the radar to track the target according to the next frame position of the target; judging whether the target has an illegal event according to the speed change and position change of the target within a continuous preset time; if it is judged that the target has an illegal event, reporting the illegal event of the target to an event processing system, and applying for the control right of the camera corresponding to the radar; acquiring the preset point of the camera according to the distance between the radar and the camera, saving the video of the camera within a preset time before and after the illegal event trigger according to the preset point, and intercepting the picture during the illegal event trigger to generate the image material of the illegal event.

[0010] The vehicle illegal behavior detection method proposed in the present application can have the following additional technical features:

[0011] According to one embodiment of the present invention, determining whether the target has committed a violation based on the speed and position changes of the target within a continuous preset time period specifically includes: marking the target as stopped when the target continuously decelerates and decreases to a first preset speed threshold, wherein the second speed threshold is greater than the first speed threshold; marking the target as speeding when the target's speed continuously exceeds a second preset speed threshold; and marking the target as driving in the wrong direction when the target's position changes in the opposite direction to the road's direction of travel.

[0012] According to one embodiment of the present invention, the target's position in the next frame is predicted using a Kalman tracking filter algorithm based on the data.

[0013] A second aspect of the present invention provides a vehicle violation detection device, comprising: an acquisition module, configured to acquire radar detection data, including the target's position and speed, after the radar detects a target; a tracking module, configured to predict the target's next frame position based on the data, and control the radar to track the target based on the target's next frame position; a judgment module, configured to determine whether the target has committed a violation based on the target's speed and position changes over a continuous preset time period; a reporting module, configured to report the violation to an event processing system when the violation is determined to exist, and request control of the camera corresponding to the radar; and a generation module, configured to acquire a preset point of the camera based on the distance between the radar and the camera, save the video of the camera within a preset time period before and after the violation is triggered based on the preset point, and extract images during the violation triggering period to generate image data of the violation.

[0014] The vehicle violation detection device proposed in this invention may also have the following additional technical features:

[0015] According to one embodiment of the present invention, the judgment module is specifically used to: mark the target as a stopped target when the target continuously decelerates and decreases to a first preset speed threshold; mark the target as speeding when the target's speed continuously exceeds a second preset speed threshold, wherein the second speed threshold is greater than the first speed threshold; and mark the target as traveling in the wrong direction when the target's position changes in the opposite direction to the road's direction of travel.

[0016] According to one embodiment of the present invention, the tracking module is specifically used to: predict the next frame position of the target using a Kalman tracking filter algorithm based on the data.

[0017] A third aspect of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle violation detection method according to a first aspect of the present invention.

[0018] A fourth aspect of the present invention provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the vehicle violation detection method according to the first aspect of the present invention.

[0019] The beneficial effects of this invention are:

[0020] This invention can determine whether a target is engaging in illegal activities based on radar detection data, and when illegal activities are detected, it can control the corresponding camera and record the illegal process, thereby improving the detection efficiency of high-speed illegal events and alleviating the pressure of manual inspections. Attached Figure Description

[0021] Figure 1 This is a flowchart of a method for detecting illegal behavior of vehicles according to an embodiment of the present invention;

[0022] Figure 2 This is a block diagram of a vehicle violation detection device according to an embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Figure 1 This is a flowchart of a vehicle violation detection method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0025] S1: After the radar detects a target, it acquires the radar detection data, including the target's position and speed.

[0026] Specifically, the target in this invention can refer to a vehicle on a highway, and the radar system can acquire the data detected by the radar in real time.

[0027] S2 predicts the target's position in the next frame based on the data, and controls the radar to track the target based on the target's position in the next frame.

[0028] In one specific embodiment of the present invention, based on the data, the Kalman tracking filter algorithm can be used to predict the target's position in the next frame, and then correct and update it in the next frame.

[0029] S3 determines whether the target has committed any illegal acts based on the target's speed and position changes over a continuous preset time period.

[0030] Furthermore, in one specific embodiment of the present invention, the illegal event may include: target parking, target speeding, and target driving in the wrong direction.

[0031] Based on the target's speed and position changes over a continuous preset time period, determine whether the target has committed any illegal acts. Specifically, this includes: marking the target as stopped when the target continuously decelerates and drops to a first preset speed threshold; marking the target as speeding when the target's speed continuously exceeds a second preset speed threshold, where the second speed threshold is greater than the first speed threshold; and marking the target as driving in the wrong direction when the target's position changes in the opposite direction to the road's direction of travel.

[0032] S4. If it is determined that the target has committed an illegal act, the illegal act of the target is reported to the incident processing system, and control of the camera corresponding to the radar is requested.

[0033] Specifically, each radar is bound to a certain camera. When a violation is detected on the target, the violation is reported to the event processing system. The radar system then requests control of the camera corresponding to the radar to avoid duplicate control.

[0034] S5: Obtain the preset point of the camera based on the distance between the radar and the camera, save the video of the camera within a preset time before and after the illegal event is triggered based on the preset point, and capture the pictures during the illegal event to generate image data of the illegal event.

[0035] Specifically, the camera stores different preset points, each corresponding to different camera operating parameters. In this invention, the preset points corresponding to different distances between the radar and the camera can be stored in a table. The radar system obtains the camera's preset points based on the distance between the radar and the camera, saves the video of the preset points within a preset time (e.g., 30 seconds) before and after the triggering of the illegal event, and simultaneously captures images during the triggering period of the illegal event, thereby generating image data of the target's illegal event.

[0036] To improve the clarity of the recorded image data, in one specific embodiment of the present invention, after acquiring the radar detection data, the target's planar coordinates can be calculated using trigonometric formulas based on the target's distance D and angle A relative to the radar, as well as the radar's installation height H. After gaining control of the camera, the focal length of the camera is calculated based on the target's planar coordinates and the height at which the camera is mounted. The camera is then focused according to the calculated angle, allowing the camera parameters to be adjusted based on the actual situation of the target and the radar, resulting in clearer recorded image data.

[0037] In summary, the vehicle violation detection method according to the embodiments of the present invention can determine whether a target has committed a violation based on radar detection data, and control the corresponding camera and record the violation process when a violation is detected, thereby improving the detection efficiency of high-speed violations and alleviating the pressure of manual inspection.

[0038] Corresponding to the above-mentioned method for detecting vehicle violations, the present invention also proposes a device for detecting vehicle violations.

[0039] Figure 2 This is a block diagram of a vehicle violation detection device according to an embodiment of the present invention, as shown below. Figure 2 As shown, the method includes: acquisition module 1, tracking module 2, judgment module 3, reporting module 4, and generation module 5.

[0040] The system comprises the following modules: Acquisition module 1 acquires radar data, including the target's position and velocity, after the radar detects a target; Tracking module 2 predicts the target's position in the next frame based on the data and controls the radar to track the target based on the target's position in the next frame; Judgment module 3 determines whether the target has committed an illegal act based on the target's velocity and position changes over a continuous preset time period; Reporting module 4 reports the illegal act to the event processing system when the illegal act is determined to exist and requests control of the camera corresponding to the radar; and Generation module acquires the camera's preset point based on the distance between the radar and the camera, saves the video from the camera within a preset time period before and after the illegal act is triggered based on the preset point, and extracts images during the illegal act to generate image data of the illegal act.

[0041] According to one embodiment of the present invention, the determination module 3 is specifically used to: mark the target as stopped when the target continuously decelerates and decreases to a first preset speed threshold; mark the target as speeding when the target speed continuously exceeds a second preset speed threshold, wherein the second speed threshold is greater than the first speed threshold; and mark the target as traveling in the wrong direction when the target's position changes in the opposite direction to the road's direction of travel.

[0042] According to one embodiment of the present invention, the tracking module 2 is specifically used to: predict the position of the target in the next frame using a Kalman tracking filter algorithm based on the data.

[0043] According to the vehicle violation detection device of the present invention, it can determine whether a target has a violation based on radar detection data, and control the corresponding camera and record the violation process when a violation is detected, thereby improving the detection efficiency of high-speed violations and alleviating the pressure of manual inspection.

[0044] Furthermore, the present invention also proposes a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method for detecting illegal vehicle behavior.

[0045] According to an embodiment of the present invention, a non-transitory computer-readable storage medium on which a computer program is stored is executed by a processor. When the radar detects a target, the program acquires radar detection data, including the target's position and speed. Based on the data, the program predicts the target's position in the next frame and controls the radar to track the target based on the target's position in the next frame. Based on the target's speed and position changes over a continuous preset time period, the program determines whether the target has committed an illegal act. If the program determines that the target has committed an illegal act, it reports the illegal act to the event processing system and requests control of the camera corresponding to the radar. Based on the distance between the radar and the camera, the program acquires a preset point of the camera, saves video footage from the camera within a preset time period before and after the illegal act is triggered based on the preset point, and captures images during the illegal act to generate image data of the illegal act. This allows the program to determine whether the target has committed an illegal act based on the radar detection data, and to control the corresponding camera and record the illegal process when the illegal act is detected. This improves the detection efficiency of high-speed illegal acts and alleviates the pressure of manual inspections.

[0046] The present invention also proposes a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the vehicle violation detection method described above.

[0047] According to the computer device of the present invention, when the processor executes the computer program stored in the memory, after the radar detects a target, it acquires the radar detection data, including the target's position and speed; predicts the target's position in the next frame based on the data, and controls the radar to track the target based on the target's position in the next frame; determines whether the target has committed an illegal event based on the target's speed and position changes within a continuous preset time period; if it is determined that the target has committed an illegal event, it reports the illegal event to the event processing system and requests control of the camera corresponding to the radar; obtains the preset point of the camera based on the distance between the radar and the camera, saves the video of the camera within a preset time period before and after the illegal event is triggered based on the preset point, and captures images during the illegal event triggering period to generate image data of the illegal event. Thus, it can determine whether the target has committed illegal behavior based on the radar detection data, and control the corresponding camera and record the illegal process when illegal behavior is detected, thereby improving the detection efficiency of high-speed illegal events and alleviating the pressure of manual inspection.

[0048] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0049] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples and features of different embodiments or examples described in this specification without contradiction. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described herein, as well as the features of the different embodiments or examples, without contradiction.

[0050] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0051] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0052] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0053] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0054] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0055] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0056] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for detecting traffic violations by a vehicle, characterized in that, Includes the following steps: Once the radar detects a target, it acquires the radar detection data, which includes the target's position and velocity. The target's position in the next frame is predicted based on the data, and the radar is controlled to track the target based on the target's position in the next frame. Based on the changes in the target's speed and position over a continuous preset time period, determine whether the target has engaged in any illegal activities; If it is determined that the target has committed an illegal act, the illegal act of the target is reported to the event processing system, and control of the camera corresponding to the radar is requested; The camera's preset point is obtained based on the distance between the radar and the camera. The video of the camera within a preset time period before and after the illegal event is triggered is saved based on the preset point, and images during the illegal event are captured to generate image data of the illegal event.

2. The method for detecting vehicle violations according to claim 1, characterized in that, Based on the changes in the target's speed and position over a continuous preset time period, determine whether the target has committed any illegal acts, specifically including: When the target continuously decelerates and decreases to a first preset speed threshold, the target is marked as a stopped target. When the speed of the target continuously exceeds the second preset speed threshold, the target is marked as speeding, and the second speed threshold is greater than the first speed threshold; When the position of the target changes in the opposite direction to the road travel direction, the target is marked as traveling in reverse.

3. The method for detecting vehicle violations according to claim 1, characterized in that, Based on the data, the Kalman tracking filter algorithm is used to predict the target's position in the next frame.

4. A vehicle violation detection device, characterized in that, include: The acquisition module is used to acquire radar detection data after the radar detects a target, the data including the target's position and velocity; The tracking module is used to predict the target's position in the next frame based on the data, and to control the radar to track the target based on the target's position in the next frame. The judgment module is used to determine whether the target has committed any illegal acts based on the target's speed and position changes over a continuous preset time period. The reporting module is used to report the illegal event of the target to the event processing system when it is determined that the target has an illegal event, and to request control of the camera corresponding to the radar; The generation module is used to obtain the preset point of the camera based on the distance between the radar and the camera, save the video of the camera within a preset time before and after the illegal event is triggered based on the preset point, and capture the images during the illegal event to generate image data of the illegal event.

5. The vehicle violation detection device according to claim 4, characterized in that, The judgment module is specifically used for: When the target continuously decelerates and decreases to a first preset speed threshold, the target is marked as a stopped target. When the speed of the target continuously exceeds the second preset speed threshold, the target is marked as speeding, and the second speed threshold is greater than the first speed threshold; When the position of the target changes in the opposite direction to the road travel direction, the target is marked as traveling in reverse.

6. The vehicle violation detection device according to claim 4, characterized in that, The tracking module is specifically used to: predict the target's position in the next frame using a Kalman tracking filter algorithm based on the data.

7. A non-transitory computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the method for detecting illegal acts of a vehicle according to any one of claims 1-3.

8. A computer device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the method for detecting illegal behavior of a vehicle according to any one of claims 1-3.

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