CN102592456A - Video-based vehicle speed measuring method - Google Patents
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Abstract
The invention discloses a video-based vehicle speed measuring method. The method comprises the following steps of: (1) field calibration: selecting a plurality of continuous road sections in the corresponding on-site field of a video detection area, and calibrating actual detection lines on dividing lines of adjacent road sections; (2) system drawing setting: converting the actual detection lines of the on-site field into virtual detection lines in an image, and storing actual distances between the virtual detection lines into a system; and (3) vehicle speed calculation: shooting the on-site field, acquiring images of continuous frames, analyzing the images according to the number of the frames in turn, calculating the pixel difference between a vehicle target and the current virtual detection line in each frame image, selecting two frame images which have the lowest pixel difference absolute value and are based on different virtual detection lines, and calculating the speed of the vehicle target according to the actual distance and the frame difference between the virtual detection lines which are corresponding to the two frame images respectively. By the video-based vehicle speed measuring method, a video analysis technology is adopted, the cost of the system is greatly reduced, and the stability of the system is improved at the same time.
Description
Technical field
The present invention relates to the vehicle speed measuring method field, relate to a kind of vehicle speed measuring method in particular based on video.
Background technology
At intelligent transportation field, speed how accurately to measure driving vehicle is the emphasis that the scientific worker studies always.In the prior art,, can divide into radar velocity measurement, laser velocimeter and sensor and test the speed according to the difference of measuring principle, wherein:
This radar velocity measurement is to utilize Doppler's principle to realize testing the speed; Promptly initiatively send radar wave to the vehicle of motion through knotmeter; Radar wave is after running into the vehicle of motion, and the reflection wave frequency will change, and can record car speed according to this variation and rate variation rule.
This laser velocimeter then is based on the basis of laser ranging and realizes, it passes through tested vehicle emission laser beam, and receives the reflection wave of this laser beam, and is poor through writing time, confirms the distance between tested vehicle and the test point.
This sensor tests the speed and then asks speed through detecting vehicle through the mistiming of two sensors, and this sensor can be two coils that are embedded on the road surface, and it is to utilize electromagnetic induction principle to come the perception vehicle.
By on can know that the method for testing of prior art all need be provided with the equipment of testing the speed, and above-mentioned testing apparatus also have cost high with defective such as system complex, in view of this, the above-mentioned defective further investigation of the inventor during to present vehicle speed has this case generation then.
Summary of the invention
The object of the present invention is to provide a kind of vehicle speed measuring method, to solve prior art has testing apparatus cost height and system complex when vehicle is tested the speed problem based on video.
In order to reach above-mentioned purpose, solution of the present invention is:
A kind of vehicle speed measuring method based on video wherein, comprises the steps:
1., demarcate on the spot: a plurality of continuous highway sections are selected at the scene corresponding in the Video Detection district on the spot, and on the separatrix in adjacent highway section, calibrate the actual detected line;
2., system's drawing is set: system is carried out initialization and scene actual detected line on the spot is converted into the virtual detection line in the image, and the actual range between each virtual detection line is deposited in the system;
3., the speed of a motor vehicle calculates: the image of successive frame is taken and obtained at the scene on the spot, image is analyzed by the frame number size successively, and calculate the pixel value difference of vehicle target and current virtual detection line in each two field picture; Select the pixel value difference absolute value minimum and, and calculate the speed of vehicle target according to the frame number difference of actual range and two two field pictures between the corresponding respectively virtual detection line of two two field pictures based on two two field pictures of different virtual detection line.
Further, 1. carry out timing signal on the spot in step, the actual range in each highway section equates and the actual range in each highway section is made as normal pitch; Step 2. and between the actual range of each virtual detection line of step in 3. and the corresponding virtual detection line actual range be the product of virtual detection line sequence number difference and normal pitch.
Further, calculating pixel value difference in step in 3. is the pixel value difference that calculates between vehicle target forward position and the current dummy line.
Further, also comprise judging whether vehicle target gets into the step of detection zone in step in 3., if not then need not current frame image is carried out analytical calculation and directly analyzes the next frame image.
Further; When step is analyzed by the frame number size image in 3.; Also comprise the step of judging whether vehicle target passes through in vehicle target passes through in the present frame virtual detection line and the previous frame virtual detection line equates, if equate that then this vehicle target being stablized frame number adds 1; To not judge that also new virtual detection line is whether before current virtual detection line, if then the information of current vehicle target record is carried out initialization process if do not wait; If after current virtual detection line, then the check point quantity to this vehicle process adds 1.
Further, step 3. in vehicle target and every virtual detection line a storage space all is set, this storage space is used for the minimum pixel difference between store car target and this virtual detection line; And finishing also will to judge when current frame image analyzed in the present frame whether the absolute value of pixel value difference diminishes between this vehicle target and current virtual detection line, if then upgrade number of image frames with respect to current virtual detection line.
Further, step 3. in if having identical pixel value difference for the different virtual detection line, then select two nearest two field pictures of vehicle target and camera to carry out speed of a motor vehicle calculating.
After adopting said structure, a kind of speed of a motor vehicle speed-measuring method that the present invention relates to based on video, it at first is presented on the mode of the highway section that has certain distance in the reality with virtual detection line on the image through the mode of demarcating on the spot and system's drawing is demarcated; Then pass through the continuous analysis of system, thereby restore actual range, and find out the time, and then calculate the actual travel speed of motor vehicles image.So the present invention need not as prior art high with the complicated testing apparatus of cost to be set, thereby can reduce system cost greatly, and has improved the stability of system simultaneously.
Description of drawings
Fig. 1 the present invention relates to a kind of overall flow figure based on the video frequency vehicle speed-measuring method;
Fig. 2 is the process flow diagram that the present invention relates to the preferred embodiment that the speed of a motor vehicle is calculated in the vehicle speed measuring method.
Embodiment
In order further to explain technical scheme of the present invention, come the present invention is set forth in detail through specific embodiment below.
A kind of vehicle speed measuring method based on video as shown in Figure 1, as to the present invention relates to comprises that demarcation on the spot, system's drawing are set and the speed of a motor vehicle is calculated three steps, and it specifically is respectively:
1., demarcate on the spot: a plurality of continuous highway sections are selected at the scene corresponding in the Video Detection district on the spot, and on the separatrix in adjacent highway section, calibrate the actual detected line; Preferably, the actual range in each highway section equates and the actual range in each highway section is made as normal pitch;
2., system's drawing is set: system is carried out initialization and scene actual detected line on the spot is converted into the virtual detection line in the image; And the actual range between each virtual detection line deposited in the system; When adopting normal pitch, the actual range between this each virtual detection line is the product of virtual detection line sequence number difference and normal pitch;
3., the speed of a motor vehicle calculates: the image of successive frame is taken and obtained at the scene on the spot, image is analyzed by the frame number size successively, and calculate the pixel value difference of vehicle target and current virtual detection line in each two field picture; Then select the pixel value difference absolute value minimum and based on two two field pictures of different virtual detection line; Calculate the speed of vehicle target again according to the frame number difference of actual range and two two field pictures between the corresponding respectively virtual detection line of two two field pictures; The frame number difference that wherein gives two two field pictures can obtain the time between two two field pictures; So pass through actual range divided by the time, can obtain the speed of vehicle target; If this moment, 1. step carried out actual timing signal employing normal pitch, this actual range promptly equals the product of virtual detection line sequence number difference and normal pitch, with the calculating of being convenient to vehicle target speed more.In case have identical pixel value difference for the different virtual detection line, then can select two nearest two field pictures of vehicle target and camera to carry out the speed of a motor vehicle and calculate, so can play the measuring accuracy that improves the speed of a motor vehicle.
Particularly, the calculating pixel difference is the pixel value difference that calculates between vehicle target forward position and the current dummy line, choose certainly vehicle target any one put replace vehicle target all can, be RP such as the afterbody that can also choose vehicle target.
Like this, preferred embodiment of the present invention is at first through demarcating and mode that system's drawing is demarcated is that virtual detection line is presented on the image with the highway section of actual moderate distance with the form of equidistance not on the spot; Then through the continuous analysis of system, thereby find out the image of pressing close to virtual detection line most to image, and through restoring actual range and find out running time, and then calculate the actual travel speed of motor vehicles.So the present invention need not as prior art high with the complicated testing apparatus of cost to be set, thereby can reduce system cost greatly, and has improved the stability of system simultaneously.
In order to play the purpose of reduce analyzing quantity and improving analysis efficiency, also comprise judging whether vehicle target gets into the step of detection zone in step in 3., if not then need not current frame image is carried out analytical calculation and directly analyzes the next frame image.
In order to overcome the mistake that in testing process, occurs; When step is analyzed by the frame number size image in 3.; Also comprise the step of judging whether vehicle target passes through in vehicle target passes through in the present frame virtual detection line and the previous frame virtual detection line equates, if equate that then this vehicle target being stablized frame number adds 1; To not judge that also new virtual detection line is whether before current virtual detection line, if then the information of current vehicle target record is carried out initialization process if do not wait; If after current virtual detection line, then the check point quantity to this vehicle process adds 1, has only when check point quantity to surpass 2, and the speed of a motor vehicle just might be calculated by quilt.
In addition, step 3. in vehicle target and every virtual detection line a storage space all is set, this storage space is used for the minimum pixel difference between store car target and this virtual detection line, thereby plays the effect of being convenient to statistical computation; And finishing also will to judge when current frame image analyzed in the present frame whether the absolute value of pixel value difference diminishes between this vehicle target and current virtual detection line, if then upgrade number of image frames with respect to current virtual detection line.
As shown in Figure 2, the particular flow sheet when it is implemented for preferred embodiment of the present invention is actual, it all merges above-mentioned preferred steps therein.
The foregoing description and graphic and non-limiting product form of the present invention and style, the those of ordinary skill of any affiliated technical field all should be regarded as not breaking away from patent category of the present invention to its suitable variation or modification of doing.
Claims (7)
1. the vehicle speed measuring method based on video is characterized in that, comprises the steps:
1., demarcate on the spot: a plurality of continuous highway sections are selected at the scene corresponding in the Video Detection district on the spot, and on the separatrix in adjacent highway section, calibrate the actual detected line;
2., system's drawing is set: system is carried out initialization and scene actual detected line on the spot is converted into the virtual detection line in the image, and the actual range between each virtual detection line is deposited in the system;
3., the speed of a motor vehicle calculates: the image of successive frame is taken and obtained at the scene on the spot, image is analyzed by the frame number size successively, and calculate the pixel value difference of vehicle target and current virtual detection line in each two field picture; Select the pixel value difference absolute value minimum and, and calculate the speed of vehicle target according to the frame number difference of actual range and two two field pictures between the corresponding respectively virtual detection line of two two field pictures based on two two field pictures of different virtual detection line.
2. a kind of vehicle speed measuring method based on video as claimed in claim 1 is characterized in that, 1. carries out timing signal on the spot in step, and the actual range in each highway section equates and the actual range in each highway section is made as normal pitch; Step 2. and between the actual range of each virtual detection line of step in 3. and the corresponding virtual detection line actual range be the product of virtual detection line sequence number difference and normal pitch.
3. a kind of vehicle speed measuring method based on video as claimed in claim 1 is characterized in that, calculating pixel value difference in step in 3. is the pixel value difference that calculates between vehicle target forward position and the current dummy line.
4. a kind of vehicle speed measuring method as claimed in claim 1 based on video; It is characterized in that; 3. also comprise judging whether vehicle target gets into the step of detection zone in step in, if not then need not current frame image is carried out analytical calculation and directly analyzes the next frame image.
5. a kind of vehicle speed measuring method as claimed in claim 1 based on video; It is characterized in that; When step is analyzed by the frame number size image in 3.; Also comprise the step of judging whether vehicle target passes through in vehicle target passes through in the present frame virtual detection line and the previous frame virtual detection line equates, if equate that then this vehicle target being stablized frame number adds 1; To not judge that also new virtual detection line is whether before current virtual detection line, if then the information of current vehicle target record is carried out initialization process if do not wait; If after current virtual detection line, then the check point quantity to this vehicle process adds 1.
6. a kind of vehicle speed measuring method as claimed in claim 1 based on video; It is characterized in that; Step 3. in vehicle target and every virtual detection line a storage space all is set, this storage space is used for the minimum pixel difference between store car target and this virtual detection line; And finishing also will to judge when current frame image analyzed in the present frame whether the absolute value of pixel value difference diminishes between this vehicle target and current virtual detection line, if then upgrade number of image frames with respect to current virtual detection line.
7. a kind of vehicle speed measuring method as claimed in claim 1 based on video; It is characterized in that; Step 3. in if having identical pixel value difference for the different virtual detection line, then select two nearest two field pictures of vehicle target and camera to carry out speed of a motor vehicle calculating.
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103197090A (en) * | 2013-03-07 | 2013-07-10 | 上海电科智能系统股份有限公司 | Video speed measuring method based on feature point change |
| CN104527641A (en) * | 2014-12-29 | 2015-04-22 | 江苏大学 | Machine-vision-based parking vehicle speed detection system |
| CN104575006A (en) * | 2014-12-25 | 2015-04-29 | 北京凌云光技术有限责任公司 | Image shooting moment determining method and system as well as vehicle speed detection method and system |
| CN106530746A (en) * | 2016-10-28 | 2017-03-22 | 江苏信息职业技术学院 | Vehicle speed detection apparatus and detection method based on video technology |
| CN108320522A (en) * | 2018-04-04 | 2018-07-24 | 武汉市技领科技有限公司 | Vehicle speed measuring device and method |
| CN108648461A (en) * | 2018-05-17 | 2018-10-12 | 长安大学 | Bend early warning implementation method based on video frequency speed-measuring |
| CN109178040A (en) * | 2018-11-01 | 2019-01-11 | 同方威视技术股份有限公司 | Train identifying system and its method, train safety check system and its method |
| CN109345576A (en) * | 2018-09-30 | 2019-02-15 | 西南政法大学 | Vehicle Speed identification method and system |
| CN110286248A (en) * | 2019-06-26 | 2019-09-27 | 贵州警察学院 | A kind of vehicle speed measuring method based on video image |
| CN110824188A (en) * | 2019-10-17 | 2020-02-21 | 浙江大华技术股份有限公司 | Speed measuring method and device for highway vehicles, coder-decoder and storage device |
| CN112216118A (en) * | 2020-10-10 | 2021-01-12 | 襄阳市力合微电子科技有限公司 | Vehicle speed measuring system for intelligent street lamp based on 5G |
| CN112419748A (en) * | 2019-08-20 | 2021-02-26 | 广州中广国科测控技术有限公司 | Image speed measuring method using road marking |
| CN112419746A (en) * | 2019-08-20 | 2021-02-26 | 广州中广国科测控技术有限公司 | Vehicle speed self-monitoring method for highway traffic |
| CN112834777A (en) * | 2020-12-31 | 2021-05-25 | 北京金日恒升科技有限公司 | Train speed measuring method and tunnel media system installation position selecting method |
| CN113223301A (en) * | 2021-05-27 | 2021-08-06 | 佛冈县诚康商品混凝土有限公司 | Relative speed detection method and system for concrete transport vehicle |
| CN116884235A (en) * | 2023-08-09 | 2023-10-13 | 广东省交通运输规划研究中心 | Video vehicle speed detection method, device and equipment based on wire collision and storage medium |
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| CN103197090A (en) * | 2013-03-07 | 2013-07-10 | 上海电科智能系统股份有限公司 | Video speed measuring method based on feature point change |
| CN104575006A (en) * | 2014-12-25 | 2015-04-29 | 北京凌云光技术有限责任公司 | Image shooting moment determining method and system as well as vehicle speed detection method and system |
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| CN108320522A (en) * | 2018-04-04 | 2018-07-24 | 武汉市技领科技有限公司 | Vehicle speed measuring device and method |
| CN108648461B (en) * | 2018-05-17 | 2020-09-04 | 长安大学 | Realization method of curve early warning based on video speed measurement |
| CN108648461A (en) * | 2018-05-17 | 2018-10-12 | 长安大学 | Bend early warning implementation method based on video frequency speed-measuring |
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| CN110286248A (en) * | 2019-06-26 | 2019-09-27 | 贵州警察学院 | A kind of vehicle speed measuring method based on video image |
| CN112419748A (en) * | 2019-08-20 | 2021-02-26 | 广州中广国科测控技术有限公司 | Image speed measuring method using road marking |
| CN112419746A (en) * | 2019-08-20 | 2021-02-26 | 广州中广国科测控技术有限公司 | Vehicle speed self-monitoring method for highway traffic |
| CN110824188A (en) * | 2019-10-17 | 2020-02-21 | 浙江大华技术股份有限公司 | Speed measuring method and device for highway vehicles, coder-decoder and storage device |
| CN112216118A (en) * | 2020-10-10 | 2021-01-12 | 襄阳市力合微电子科技有限公司 | Vehicle speed measuring system for intelligent street lamp based on 5G |
| CN112834777A (en) * | 2020-12-31 | 2021-05-25 | 北京金日恒升科技有限公司 | Train speed measuring method and tunnel media system installation position selecting method |
| CN113223301A (en) * | 2021-05-27 | 2021-08-06 | 佛冈县诚康商品混凝土有限公司 | Relative speed detection method and system for concrete transport vehicle |
| CN116884235A (en) * | 2023-08-09 | 2023-10-13 | 广东省交通运输规划研究中心 | Video vehicle speed detection method, device and equipment based on wire collision and storage medium |
| CN116884235B (en) * | 2023-08-09 | 2024-01-30 | 广东省交通运输规划研究中心 | Video vehicle speed detection method, device and equipment based on wire collision and storage medium |
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