CN113888865B - Electronic device and vehicle information acquisition method - Google Patents

Abstract

The invention relates to an electronic device and a vehicle information acquisition method, relating to the technical field of vehicle-road cooperation, wherein the method comprises the following steps: receiving position information of first vehicles acquired by a radar, and determining the ID of each first vehicle acquired by the radar; after receiving information of a second vehicle acquired by target gate equipment, if the target second vehicle is acquired for the first time by the target gate equipment, determining a target first vehicle from first vehicles acquired by a radar; and if the ID of the target first vehicle is not bound with the appearance characteristic information before the preset time period, and the running sequence determined according to the position information of the target first vehicle is the same as the determined running sequence of the target second vehicle, binding the ID of the target first vehicle with the appearance characteristic information of the target second vehicle. The embodiment of the invention can determine that the vehicle ID of the same vehicle is bound with the appearance characteristic information acquired by the target gate device, thereby solving the problem of incomplete monitoring data in the prior art.

Description

Electronic device and vehicle information acquisition method

technical field

The invention relates to the technical field of vehicle-road coordination, in particular to an electronic device and a vehicle information acquisition method.

Background technique

In order to better manage traffic, multiple radars will be deployed on the existing roads. When a vehicle passes by the radar, the radar can monitor the position of the vehicle, thereby monitoring the vehicles on the road.

Vehicles will be assigned an ID during monitoring. However, other devices generally identify the vehicle’s identity as the license plate number, license plate type, and other appearance feature information of the vehicle. Other devices cannot identify the vehicle’s identity through the ID. For example, when the vehicle has an accident At the same time, it is the license plate number, vehicle type, etc. of the vehicle that are used for identity recognition, so that if only the ID of the vehicle is known, the information of the vehicle is not comprehensive.

Contents of the invention

The present invention provides an electronic device and a method for obtaining vehicle information, which can obtain the appearance feature information of the vehicle from the vehicle ID and the target bayonet device, so that the two information can be bound together, thereby solving the problem of incomplete monitoring data in the prior art question.

In the first aspect, an electronic device provided by an embodiment of the present invention includes: a receiving unit and a processor;

The receiving module is used to receive the information sent by the radar, and receive the information sent by the bayonet device corresponding to the radar;

The processor is configured to receive the position information of the first vehicle collected by the radar, and determine the ID of each first vehicle collected by the radar;

After receiving the information of the second vehicle collected by the target checkpoint device, it is determined whether each second vehicle is collected by the target checkpoint device for the first time; wherein, the monitoring area of the target checkpoint device and the radar's The monitoring area has an overlapping area; the information of the second vehicle collected by the target bayonet device includes appearance feature information for identifying the identity of the vehicle and the driving sequence of the vehicle;

If there is a target second vehicle that is collected by the target checkpoint device for the first time, then from the first vehicle collected by the radar, determine the target first vehicle; wherein, when the position information of the target first vehicle is received, when the position information of the target first vehicle is received, the Within the first preset time period before the information of the target second vehicle, and the ID of the target first vehicle has not been bound to the appearance characteristic information within the preset time period; the preset time period is when the target vehicle is received a second preset duration before the time of the information of the second vehicle;

If the ID of the target first vehicle is not bound to the appearance characteristic information before the preset time period, and the driving sequence determined according to the position information of the target first vehicle is the same as the driving sequence of the target second vehicle, Then bind the ID of the target first vehicle with the appearance characteristic information of the target second vehicle, so as to monitor the vehicles driving on the road.

The above-mentioned electronic device determines the ID of the vehicle detected by the radar, and at the same time, uses the target bayonet device to obtain the appearance feature information for identifying the vehicle identity. If the target bayonet device collects the vehicle for the first time, it is determined that the vehicle is acquired before the time For vehicles collected by radar within the preset time period, if the ID of the vehicle is not bound with appearance feature information, and it is determined that the order of the two vehicles before and after driving is the same, it means that the two vehicles are the same vehicle, and the ID and appearance feature information are bound, so that Obtaining more information of the vehicle solves the problem of incomplete monitoring data in the prior art and improves monitoring efficiency.

In a possible implementation manner, the processor is specifically configured to:

If the number of the target first vehicle is one, then determine that the driving sequence of the target vehicle is the first driving sequence;

If there are multiple target first vehicles, for each target first vehicle, according to the time interval between the time of receiving the position information of the target first vehicle and the time of receiving the information of the target second vehicle , the vehicle speed of the target first vehicle, the acceleration of the target first vehicle, determining the distance traveled by the target first vehicle within a time interval;

According to the distance traveled by the target first vehicle within the time interval and the position information of the target first vehicle, determine the position information of the target first vehicle when the target checkpoint device collects the target first vehicle;

The driving order of the target first vehicles is determined according to the position information of the target first vehicles when the target checkpoint device collects the target first vehicles.

Because the radar and the target bayonet device acquire information at different frequencies, the above-mentioned electronic device determines to obtain the position information of the target second vehicle through the target bayonet device. , which can make the judgment more accurate.

In a possible implementation manner, the processor is further configured to:

It is determined that the target first vehicle and the target second vehicle are located in the same lane.

The above-mentioned electronic device can improve the success rate of determining the driving order of the two vehicles when it is determined that the lanes in which the target first vehicle and the target second vehicle are located are the same.

In a possible implementation manner, the processor is further configured to:

If the ID of the target first vehicle has been bound to appearance feature information before the preset time period, and the driving sequence determined according to the position information of the target first vehicle is the same as the driving sequence of the target second vehicle, The ID-bound appearance feature information is corrected according to the confidence level of the target second vehicle's appearance feature information and the confidence level of the ID-bound appearance feature information.

The above-mentioned electronic device can modify the bound appearance feature information after the identity information has been bound with the appearance feature information and obtain the bound appearance feature information of the vehicle again, so as to improve the credibility of the bound information.

In a possible implementation manner, wherein the appearance feature information includes a license plate number, the processor is specifically configured to:

If the difference between the confidence degree of the license plate number of the target second vehicle and the confidence degree of the license plate number bound to the ID exceeds a preset value, and the confidence degree of the license plate number of the target second vehicle is greater than The confidence of the ID-bound license plate number is updated to receive the license plate number of the target second vehicle; or

If the difference between the confidence degree of the license plate number of the target second vehicle and the confidence degree of the ID-bound license plate number does not exceed the preset value, then for the ID-bound license plate number Each number is updated according to the confidence degree of the number in the license plate number of the target second vehicle received, and the confidence degree of the number in the license plate number to which the ID has been bound, the number with a higher degree of confidence The number in the license plate number to which the ID is bound.

The above-mentioned electronic device can modify the license plate number in the appearance feature information through the confidence level, and the license plate number bound to the identity information is the correct license plate number of the vehicle, which improves the credibility of the obtained information.

In the second aspect, a vehicle information acquisition method provided by an embodiment of the present invention includes:

receiving the position information of the first vehicle collected by the radar, and determining the ID of each first vehicle collected by the radar;

After receiving the information of the second vehicle collected by the target checkpoint device, it is determined whether each second vehicle is collected by the target checkpoint device for the first time; wherein, the monitoring area of the target checkpoint device and the radar's The monitoring area has an overlapping area; the information of the second vehicle collected by the target bayonet device includes appearance feature information for identifying the identity of the vehicle and the driving sequence of the vehicle;

If there is a target second vehicle that is collected by the target checkpoint device for the first time, then from the first vehicle collected by the radar, determine the target first vehicle; wherein, when the position information of the target first vehicle is received, when the position information of the target first vehicle is received, the Within the first preset time period before the information of the target second vehicle, and the ID of the target first vehicle has not been bound to the appearance characteristic information within the preset time period; the preset time period is when the target vehicle is received a second preset duration before the time of the information of the second vehicle;

If the ID of the target first vehicle is not bound to the appearance characteristic information before the preset time period, and the driving sequence determined according to the position information of the target first vehicle is the same as the driving sequence of the target second vehicle, Then bind the ID of the target first vehicle with the appearance characteristic information of the target second vehicle, so as to monitor the vehicles driving on the road.

In a possible implementation manner, determining the driving sequence according to the position information of the target first vehicle includes:

If the number of the target first vehicle is one, then determine that the driving sequence of the target vehicle is the first driving sequence;

If there are multiple target first vehicles, for each target first vehicle, according to the time interval between the time of receiving the position information of the target first vehicle and the time of receiving the information of the target second vehicle , the vehicle speed of the target first vehicle, the acceleration of the target first vehicle, determining the distance traveled by the target first vehicle within a time interval;

According to the distance traveled by the target first vehicle within the time interval and the position information of the target first vehicle, determine the position information of the target first vehicle when the target checkpoint device collects the target first vehicle;

The driving order of the target first vehicles is determined according to the position information of the target first vehicles when the target checkpoint device collects the target first vehicles.

In a possible implementation manner, before binding the ID of the target first vehicle and the appearance feature information of the target second vehicle, the method further includes:

It is determined that the target first vehicle and the target second vehicle are located in the same lane.

In a possible implementation, the method further includes:

If the ID of the target first vehicle has been bound to appearance feature information before the preset time period, and the driving sequence determined according to the position information of the target first vehicle is the same as the driving sequence of the target second vehicle, The ID-bound appearance feature information is corrected according to the confidence level of the target second vehicle's appearance feature information and the confidence level of the ID-bound appearance feature information.

In a possible implementation manner, wherein the appearance feature information includes a license plate number, the confidence level of the target second vehicle's appearance feature information and the appearance feature information bound to the ID is determined. The appearance feature information that has been bound to the ID is corrected, including:

If the difference between the confidence degree of the license plate number of the target second vehicle and the confidence degree of the license plate number bound to the ID exceeds a preset value, and the confidence degree of the license plate number of the target second vehicle is greater than The confidence of the ID-bound license plate number is updated to receive the license plate number of the target second vehicle; or

If the difference between the confidence degree of the license plate number of the target second vehicle and the confidence degree of the ID-bound license plate number does not exceed the preset value, then for the ID-bound license plate number Each number is updated according to the confidence degree of the number in the license plate number of the target second vehicle received, and the confidence degree of the number in the license plate number to which the ID has been bound, the number with a higher degree of confidence The number in the license plate number to which the ID is bound.

In a third aspect, the present application further provides a computer storage medium, on which a computer program is stored, and when the program is executed by a processing unit, the steps of the vehicle information acquisition method described in the second aspect are realized.

In addition, for the technical effects brought about by any one of the implementations from the second aspect to the third aspect, refer to the technical effects brought about by different implementations in the first aspect, which will not be repeated here.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.

Description of drawings

The accompanying drawings here are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and used together with the specification to explain the principle of the present invention, and do not constitute an improper limitation of the present invention.

FIG. 1 is a schematic diagram of a scene on a road provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a scene for monitoring vehicles on a road provided by an embodiment of the present invention;

FIG. 3 is a structural diagram of an electronic device provided by an embodiment of the present invention;

Fig. 4 is a flowchart of a vehicle information acquisition method provided by an embodiment of the present invention;

Fig. 5 is a layout diagram of a radar and target bayonet device provided by an embodiment of the present invention;

Fig. 6 is a schematic diagram of an image captured by a target bayonet device provided by an embodiment of the present invention;

Fig. 7 is a schematic diagram of information collected by two devices when there is a time difference in the collection cycle of a radar and target bayonet device provided by an embodiment of the present invention;

Fig. 8A is a schematic diagram of the vehicle captured by the radar and the target checkpoint device during the driving of the first vehicle according to the embodiment of the present invention;

Fig. 8B is a schematic diagram of the vehicle captured by the radar and the target checkpoint device during the driving process of the second type of vehicle provided by the embodiment of the present invention;

Fig. 8C is a schematic diagram of the vehicle captured by the radar and the target bayonet device during the driving process of the third type of vehicle provided by the embodiment of the present invention;

FIG. 9 is a schematic diagram of a vehicle captured by a radar and target checkpoint equipment provided by an embodiment of the present invention in which multiple vehicles are distributed in multiple lanes.

Detailed ways

In order to enable ordinary persons in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

It should be noted that the terms "first" and "second" in the description of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

The application scenarios described in the embodiments of the present invention are to illustrate the technical solutions of the embodiments of the present invention more clearly, and do not constitute limitations on the technical solutions provided by the embodiments of the present invention. It appears that the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems.

In order to better monitor the vehicles on the road, multiple radars will be deployed on the road. At the same time, bayonet devices, cameras, etc. will be deployed on important road nodes. As shown in Figure 1, radars Radar1~Radar6 will be deployed on the road, and The bayonet devices Camera1~Camera2, among them, the radar Radar1 and the bayonet device Camera1 are set relatively close, the monitoring area of the radar Radar1 and the bayonet device Camera1 have an overlapping area, and the location of the radar Radar6 and the bayonet device Camera2 is compared Recently, the monitoring area of the radar Radar6 and the recognition area of the bayonet device Camera2 overlap.

When the vehicle 1 passes the radar Radar1, the position of the vehicle 1 is obtained through the radar Radar1, and the ID of the vehicle 1 is determined by the radar. The vehicle 1 continues to drive, and the bayonet device Camera1 will capture the vehicle 1, thereby obtaining the vehicle 1's ID. Appearance feature information, such as license plate number, license plate type, etc. Since the vehicle captured by the bayonet device Camera1 and the radar Radar1 is the same vehicle, the ID of the vehicle 1 determined by the radar Radar1 and the bayonet device Camera1 are obtained. Binding of appearance feature information.

When radar Radar2 collects passing vehicles, radar Radar2 obtains the ID of the vehicle. If the vehicle collected by radar Radar2 is vehicle 1, record the position of vehicle 1 and bind the position to the ID of vehicle 1; similarly, radar Radar3 When collecting passing vehicles, radar Radar3 obtains the ID of the vehicle. If the vehicle collected by radar Radar3 is vehicle 1, record the location of vehicle 1 and bind the location to the ID of vehicle 1; when radar Radar4 collects passing vehicles, Radar4 obtains the ID of the vehicle. If the vehicle collected by Radar4 is Vehicle 1, record the location of Vehicle 1 and bind the location to the ID of Vehicle 1. When Radar5 collects passing vehicles, Radar5 obtains the ID of the vehicle. , if the vehicle collected by Radar5 is vehicle 1, record the location of vehicle 1 and bind the location to the ID of vehicle 1.

When the radar Radar6 collects passing vehicles, the radar Radar6 obtains the ID of the vehicle. If the vehicle collected by the radar Radar6 is vehicle 1, the position of the vehicle 1 is recorded. At the same time, the appearance feature information obtained by the bayonet device Camera2 is then passed through the bayonet. If the confidence level of the appearance feature information acquired by the camera2 is higher than the confidence level of the appearance feature information acquired by the bayonet device Camera1, the appearance feature information of the bayonet device Camera2 is replaced by the ID-bound appearance obtained by the bayonet device Camera1 feature information; when the confidence of the appearance feature information obtained through the bayonet device Camera2 is not higher than the confidence degree of the appearance feature information obtained through the bayonet device Camera1, the ID-bound appearance feature information obtained through the bayonet device Camera1 is not Change.

Through the above monitoring process, the vehicles on the road and the trajectory of the vehicles can be monitored. When a vehicle accident occurs, the location of the vehicle can be quickly obtained through the information of the monitored vehicle, which is convenient for traffic management.

Exemplarily, as shown in FIG. 2 , for vehicles on the road, when the radar on the road detects the vehicle, it will be highlighted, for example, vehicle 1, vehicle 2, vehicle 3, and vehicle 4 are displayed by flashing at the origin. When the origin is clicked, the corresponding vehicle information will be displayed. For example, when vehicle 1 is selected, the bound appearance feature information is displayed, Beijing A.123, small car, A brand 2021 model, white, and the location information of the vehicle 1 passing by is displayed at the same time, (longitude 1, latitude 1), (longitude 2, latitude 2), (longitude 3, latitude 3), (longitude 4, latitude 4).

The method for acquiring electronic equipment and vehicle information proposed by the embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 3 shows a schematic structural diagram of an electronic device 300 .

Hereinafter, the embodiment will be specifically described by taking the electronic device 300 as an example. It should be understood that the electronic device 300 shown in FIG. 3 is merely an example, and that the electronic device 300 may have more or fewer components than those shown in FIG. 3 , two or more components may be combined, or Different component configurations are possible. The various components shown in the figures may be implemented in hardware, software, or a combination of hardware and software including one or more signal processing and/or application specific integrated circuits.

FIG. 3 exemplarily shows a hardware configuration block diagram of an electronic device 300 according to an exemplary embodiment. As shown in FIG. 3 , the electronic device 300 includes: a radio frequency (radio frequency, RF) circuit 310, a memory 320, a wireless fidelity (Wireless Fidelity, Wi-Fi) module 330, a processor 340, a Bluetooth module 350, a power supply 360 and other components .

The RF circuit 310 can be used for receiving and sending signals in the process of sending and receiving information or talking, can receive the downlink data from the base station and hand it over to the processor 340 for processing; and can send the uplink data to the base station. Typically, RF circuits include, but are not limited to, antennas, at least one amplifier, transceivers, couplers, low noise amplifiers, duplexers, and the like.

Wi-Fi is a short-distance wireless transmission technology. The electronic device 300 can help users send and receive emails, browse web pages, and access streaming media through the Wi-Fi module 330, which provides users with wireless broadband Internet access.

The bluetooth module 350 is configured to exchange information with other bluetooth devices with bluetooth modules through the bluetooth protocol. For example, the electronic device 300 can establish a Bluetooth connection with a wearable electronic device (such as a smart watch) that also has a Bluetooth module through the Bluetooth module 350, so as to perform data interaction.

The electronic device 300 communicates with the radar through part or all of the RF circuit 310, the Wi-Fi module 330, and the Bluetooth module 350, and receives the information sent by the radar; Some or all of them communicate with the bayonet device corresponding to the radar, and receive information sent by the bayonet device corresponding to the radar.

The memory 320 can be used to store software programs and data. The processor 340 executes various functions and data processing of the electronic device 300 by executing software programs or data stored in the memory 320 . The memory 320 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices. The memory 320 stores an operating system enabling the electronic device 300 to run. In the present application, the memory 320 may store an operating system and various application programs, and may also store codes for executing the methods described in the embodiments of the present application.

The processor 340 is the control center of the electronic device 300. It uses various interfaces and lines to connect various parts of the entire terminal. By running or executing software programs stored in the memory 320 and calling data stored in the memory 320, the electronic device executes 300 various functions and processing data. In some embodiments, the processor 340 may include one or more processing units; the processor 340 may also integrate an application processor and a baseband processor, wherein the application processor mainly processes the operating system, user interface and application programs, etc., and the baseband The processor mainly handles wireless communication. It can be understood that the above-mentioned baseband processor may not be integrated into the processor 340 . In this application, the processor 340 can run an operating system, application programs, user interface display and touch response, as well as the processing method described in the embodiment of this application.

The electronic device 300 also includes a power source 360 (such as a battery) for powering various components. The power supply can be logically connected to the processor 340 through the power management system, so that functions such as charging, discharging and power consumption can be managed through the power management system. The electronic device 300 may also be configured with a power button for turning on and off the terminal, and locking the screen.

Wherein, the electronic device 300 may be a Multi-access Edge Computing (Multi-access Edge Computing, MEC) device, and the MEC device may be a PC, a server and other devices.

When the MEC device detects the vehicle for the first time through the radar, it has not yet assigned the vehicle ID to the vehicle. Then, when the radar that has an overlapping area with the radar detects the vehicle, it can record the location collected by the current radar to the ID. After the current radar and the next radar have an overlapping area, it is determined that the two radars have collected the same vehicle, and record it to the ID. The location collected by one radar, and so on, two radars with overlapping areas, record the location of the vehicle through ID, so that the driving path of the vehicle can be monitored.

In the embodiment of the present invention, the radar will detect the vehicles in its monitoring area in real time, collect the information of each vehicle, and send the collected information to the MEC device. This information includes the location information of the vehicle, etc., and determines the ID of the vehicle collected by the radar.

The bayonet device will detect the vehicles in its identification area in real time, collect the information of each vehicle, and send the collected information to the MEC device. The information includes appearance feature information for identifying the identity of the second vehicle, the driving sequence of the vehicle, and the like.

The MEC device can bind the ID obtained through the radar with the appearance feature information of the vehicle obtained by the bayonet device that has an overlapping monitoring area with the radar.

The specific solutions of the embodiments of the present invention are introduced below.

As shown in FIG. 4 , an embodiment of the present invention provides a method for acquiring vehicle information, which is applied to electronic devices, including:

S400: Receive the position information of the first vehicle collected by the radar, and determine the ID of each first vehicle collected by the radar;

The process of determining the ID of the vehicle collected by the radar is as shown above; ID (Identity document) is the ID number, account number, unique code, exclusive number, industrial design, country abbreviation, legal vocabulary, general account, translation The abbreviation of various proprietary words such as encoders and software companies.

The radar can detect vehicle information, including the longitude, latitude, speed, lane, vehicle length, and vehicle width of the first vehicle, as well as the X-axis distance and Y-axis distance in the XY coordinate system centered on the radar.

S401: After receiving the information of the second vehicle collected by the target checkpoint device, determine whether each second vehicle is collected by the target checkpoint device for the first time; wherein, the monitoring area of the target checkpoint device and the monitoring area of the radar overlap area; the information of the second vehicle collected by the target bayonet device includes appearance feature information for identifying the identity of the vehicle;

Wherein, as shown in Figure 5, the monitoring area of the radar is the area enclosed by the black thickened solid line, the monitoring area of the target bayonet equipment is the area enclosed by the black dotted line, the monitoring area of the radar and the monitoring of the target bayonet equipment The area has a common area, and the radar and the target bayonet device can collect information of the same vehicle within a relatively short period of time.

The target bayonet device obtains vehicle information, including license plate type, license plate color, license plate brightness, number of license plate characters, license plate number, confidence degree of the entire license plate number, confidence degree of each number of the license plate number, vehicle main brand, vehicle sub-brand, Vehicle sub-brand year, vehicle type, vehicle color, lane to which it belongs, driving sequence and other information.

For example, the bayonet device includes a camera and a processor. The camera captures an image and sends it to the processor. The processor recognizes the license plate type, license plate color, license plate brightness, license plate character number, license plate number, and the confidence level of the entire license plate number based on the captured image. , the confidence level of each number of the license plate number, the main brand of the vehicle, the sub-brand of the vehicle, the year of the sub-brand of the vehicle, the type of vehicle, the color of the vehicle, the lane it belongs to, and then send the information of the identified vehicle to the electronic device.

Among them, the bayonet device will also recognize the driving sequence of the vehicles in the image.

Wherein, if there is only one vehicle in the image captured by the camera, the driving order is the first order. If there are multiple vehicles in the image captured by the camera, determine the driving order of each vehicle.

Regarding the driving order, as shown in Figure 6, there are three vehicles in the image taken by the bayonet device, vehicle 1, vehicle 2 and vehicle 3, combined with the position of the bayonet device shown in Figure 5, the driving order of vehicle 1 is the first Sequence, the driving sequence of vehicle 2 is the second sequence, and the driving sequence of vehicle 3 is the third sequence.

S402: If there is a target second vehicle that is collected by the target bayonet device for the first time, then determine the target first vehicle from the first vehicles collected by the radar; wherein, when the position information of the target first vehicle is received, Within the first preset time period before the information of the target second vehicle, and the ID of the target first vehicle is not bound to the appearance characteristic information within the preset time period; the preset time period is when the information of the target second vehicle is received a second preset duration before time;

When the radar and the target bayonet device can capture the same vehicle, a vehicle passes the radar and then passes through the bayonet device. After the radar collects the information of the vehicle, if the receiving time If the time interval between the information of the vehicle is relatively long, it may come from two vehicles. Therefore, the preset duration can be the radar acquisition cycle, that is, the time when the position information of the first vehicle of the target is received. In a radar collection period before the information of the second vehicle, the possibility that the vehicle detected by the radar and the bayonet device is the same is relatively high.

At the same time, when the vehicle is in the radar monitoring area, the radar will detect the vehicle. If there are multiple vehicles driving in the radar monitoring area, the vehicles captured by the target bayonet device will be different. When the vehicle driving in front is detected by the target bayonet After the device is detected, it is bound. At this time, there are already bound vehicles in the radar. Then these vehicles do not need to bind the ID and appearance feature information again. Therefore, the ID of the first vehicle found is in the preset The appearance feature information is not bound to the time period; the preset time period is the second preset time period before the time when the information of the target second vehicle is received.

Wherein, the length of the first preset duration and the second preset duration is not necessarily the same, generally the second preset duration is relatively long, but not too long, generally set within 10 minutes.

S403: If the ID of the target first vehicle has not been bound to appearance feature information before the preset time period, and the driving sequence determined according to the position information of the target first vehicle is the same as the determined driving sequence of the target second vehicle, then The ID of the target first vehicle is bound with the appearance feature information of the target second vehicle, so as to monitor the vehicles on the road.

Since the radar sampling period is relatively fast, the bayonet equipment sampling period is relatively slow. As shown in Figure 7, when the vehicle enters the radar monitoring area, the radar starts to detect the vehicle, vehicle a and vehicle b. During the radar sampling period, the vehicle is detected a and vehicle b, since the bayonet device has not reached the start time point of the sampling period at this time, after moving for a while, vehicle a and vehicle b reach the start time point of the sampling period, and the target bayonet device collects the vehicle a and vehicle b, in order to better restore the actual position of a vehicle when it is collected by the target bayonet device, the embodiment of the present invention provides that the position information is corrected, and then the sequence is determined.

Specifically:

If the quantity of the target first vehicle is one, then determine that the driving sequence of the target vehicle is the first driving sequence;

If there are multiple target first vehicles, for each target first vehicle, according to the time interval between the time of receiving the position information of the target first vehicle and the time of receiving the information of the target second vehicle, the target first vehicle The speed of the vehicle and the acceleration of the target first vehicle determine the distance traveled by the target first vehicle within the time interval;

According to the distance traveled by the target first vehicle within the time interval and the position information of the target first vehicle, determine the position information of the target first vehicle when the target checkpoint device collects the target first vehicle;

According to the position information of the target first vehicle when the target checkpoint device collects the target first vehicle, the driving sequence of the target first vehicle is determined.

Combined with Fig. 7, according to the functional relationship between time, vehicle speed, acceleration and distance, determine the distance H traveled by vehicle a in the time interval between two receiving times. The position information point A detected by the radar is added to the distance H traveled by the vehicle a to obtain the position point B of the vehicle a when the target bayonet device collects the vehicle a. Similarly, the position C point of vehicle b when the target bayonet device collects vehicle b is obtained, and the driving order of the two vehicles is determined according to position B and position C.

Since the target bayonet device will take pictures, the target bayonet device will determine the driving order according to the position of the vehicles on the picture, for example, as shown in Figure 6, the driving order of the vehicle 1 on the picture is the first order, and the driving order of the vehicle 2 It is the second sequence, and the driving sequence of vehicle 3 is the third sequence. However, when vehicle 1 is not collected for the first time, then the driving sequence of vehicle 2 and vehicle 3 needs to be adjusted according to the previous driving sequence, that is, vehicle 2’s The traveling order is the first order, and the traveling order of the vehicle 3 is the second order. Therefore, the present invention proposes to determine the initial driving order according to the position of the vehicles on the picture, and whether the target bayonet device is the first collected vehicle information to determine the driving order of the vehicles.

Take an example:

As shown in Figure 8A, since vehicle a, vehicle b, and vehicle c are all within the radar monitoring area, the radar will report the location information of vehicle a, vehicle b, and vehicle c according to its own collection cycle. When the vehicle a is photographed by the checkpoint device, it will be reported to the electronic device. The electronic device receives the vehicle a collected by the target checkpoint device for the first time, and the vehicle a is the second target vehicle, and then determines that the first target vehicle is vehicle a, vehicle b, vehicle c. Since the ID of vehicle a is not bound to appearance feature information during the preset time period, that is, vehicle a is not bound to appearance feature information during this time period, and at the same time, the ID of vehicle a is not bound to appearance feature information before this time period Information, according to the position information of vehicle a, vehicle b, and vehicle c reported by the radar, determine the driving order of vehicle a, vehicle b, and vehicle c, the driving order of vehicle a is the first order, and the driving order of vehicle b is the second order , the driving order of vehicle c is the third order.

The driving sequence of the vehicles reported by the target bayonet device, since the target bayonet device only captures vehicle a and vehicle a is also collected for the first time, so determining the driving sequence of vehicle a is the driving sequence reported by the target bayonet device. The number of vehicle a can be bound to the appearance feature information of vehicle a.

As shown in Figure 8B, the vehicle continues to drive, and the target bayonet device captures vehicle a and vehicle b. Since vehicle a is not the first vehicle captured by the target bayonet device, the following steps only need to be performed on vehicle b, and at the same time , Vehicle a is not the first vehicle collected by the target checkpoint device. Although vehicle a is the first and vehicle b is the second in the driving order of the vehicles reported by the target checkpoint device, vehicle a is not the first time, so determine vehicle b The final driving order is first.

Similarly, the radar will still detect vehicle a, vehicle b, and vehicle c. Vehicle a has bound appearance feature information within a preset time. Therefore, vehicle b and vehicle c are the first target vehicles. The position of vehicle b and vehicle The position of c shows that the driving order of vehicle b is the first, and the driving order of vehicle c is the second. Therefore, because the driving order of vehicle b collected by the radar is the first, the driving order of vehicle b collected by the target checkpoint device is all first. , so the ID of vehicle b collected by the radar and the appearance feature information of vehicle b collected by the target checkpoint device are bound.

As shown in Figure 8C, the vehicle continues to drive, and the target bayonet device captures vehicle b and vehicle c. Since vehicle b is not the first vehicle collected by the target bayonet device, only the following steps need to be performed on vehicle c. At the same time, vehicle b is not the vehicle collected by the target checkpoint device for the first time. Vehicle b is the first and vehicle c is the second in the driving sequence of the vehicles reported by the target checkpoint device. However, vehicle b is not the first time. Therefore, determine vehicle c The final driving order is first.

Similarly, the radar will still detect vehicle a, vehicle b, and vehicle c. Vehicle a and vehicle b have bound appearance feature information within the preset time. Therefore, vehicle c is the first target vehicle. Since the target first vehicle only has One, therefore, the driving order of vehicle c is the first.

Since the driving order of vehicle c collected by the radar and the driving order of vehicle c collected by the target bayonet device are all first, the ID of vehicle c collected by the radar and the appearance feature information of vehicle c collected by the target bayonet device are compared. bound.

In this way, the present invention can collect different information of the same vehicle through radar and target bayonet equipment, and bind the two different information. The information of the vehicle after binding is, for example, the longitude, latitude, speed, lane, vehicle length, Vehicle width, and the X-axis distance and Y-axis distance in the XY coordinate system centered on the radar, the identity information for the radar to identify the first vehicle, the license plate type, license plate color, license plate brightness, number of license plate characters, license plate number, The confidence of the entire license plate number, the confidence of each number of the license plate number, the main brand of the vehicle, the sub-brand of the vehicle, the year of the sub-brand of the vehicle, the type of vehicle, the color of the vehicle, the lane it belongs to, etc., thus enriching the information richness of the monitored vehicles .

In order to improve the success rate of judging the order of the two vehicles before and after driving, before binding the ID of the target first vehicle and the appearance feature information of the target second vehicle, the method further includes:

It is determined that the lanes where the target first vehicle and the target second vehicle are located are the same.

Specifically, since the road is divided into multiple lanes, when the distance between the radar and the target checkpoint device is relatively close, when the vehicle obtained through the radar is in the same lane as the vehicle obtained through the target checkpoint device, they are The possibility of the same vehicle is relatively high.

If the vehicles on the road are relatively dense, then in the same time period, the radar will send the information of multiple vehicles to the electronic device, and the target bayonet device will send the information of multiple vehicles to the electronic device.

For example, as shown in Figure 9, when vehicle a, vehicle b, and vehicle c pass through the radar and target checkpoint equipment, vehicle a and vehicle b are side by side, so vehicle b and vehicle c are the same vehicle, and vehicle b is in the vehicle in front of c.

During radar identification, vehicle a, vehicle b, and vehicle c are all in the radar monitoring area, so the radar collects the information of vehicle 1, the radar collects the information of vehicle 2, the radar collects the information of vehicle 3, and sends it to the electronic device, vehicle a , vehicle b, and vehicle c are all within the identification area of the bayonet device, and the target bayonet device simultaneously collects the information of vehicle a, vehicle b, and vehicle c, and sends it to the electronic device. Through the pictures taken by the target recognition bayonet device, the The driving order of vehicle a in lane 1 is the first, and the driving order of vehicle b in lane 2 is recognized as the first, and the driving order of vehicle c in lane 3 is recognized as the second. At this time, because vehicle a The two vehicles, vehicle a and vehicle b, have different lanes, so it can be determined that the two vehicles, vehicle a and vehicle b, are different vehicles.

For vehicle b and vehicle c, when the lanes of the two vehicles are the same, the driving order of vehicle b in lane 2 is the first, and the driving order of vehicle c in lane 3 is the second.

Therefore, the lane and driving sequence of the target vehicle are determined in the position information sent by the radar. For example, there is a vehicle in lane 1, and the driving sequence of the vehicle is the first. There are two vehicles in lane 2, and the driving order of one vehicle The driving sequence is the first, and the driving sequence of the other vehicle is the second, and that one is matched with the lane and driving sequence of the target bayonet device, and the vehicle in lane 1 collected by the radar is vehicle a, and the vehicle in lane 2 collected by the radar is The first vehicle in the driving sequence is vehicle b, and the second vehicle in the lane 2 collected by the radar is vehicle c.

As can be seen from the above, the present invention can determine the possibility of being the same vehicle by judging the lane and judging the driving sequence.

Of course, since the appearance feature information of the vehicle is identified through photos, it may be unclear when taking pictures, resulting in recognition errors. Assuming that the appearance characteristic information has been bound before the time period, and the driving sequence determined according to the position information of the target first vehicle is the same as the determined driving sequence of the target second vehicle, then according to the confidence degree of the appearance characteristic information of the target second vehicle The confidence degree of the ID-bound appearance feature information is corrected for the ID-bound appearance feature information.

Specifically, the appearance feature information includes the license plate number. If the difference between the confidence degree of the license plate number of the target second vehicle and the confidence degree of the ID-bound license plate number exceeds a preset value, and the confidence degree of the license plate number of the target second vehicle is greater than the ID bound Confidence of the bound license plate number, the license plate number whose ID has been bound is updated to receive the license plate number of the target second vehicle; or

If the difference between the confidence degree of the license plate number of the target second vehicle and the confidence degree of the ID-bound license plate number does not exceed the preset value, then for each number in the ID-bound license plate number, According to the confidence degree of the number in the license plate number of the target second vehicle received, and the confidence degree of the number in the license plate number whose ID has been bound, the number with a higher degree of confidence is updated in the license plate number with the ID bound number.

Among them, when each bayonet device recognizes the license plate number of the vehicle, it will obtain the confidence degree of each license plate number and the confidence degree of each number in the license plate number. When , the probability of each number will be obtained, and the probability will be used as the confidence level of the number.

The embodiment of the present invention also provides an electronic device, including: a receiving unit and a processor;

The receiving unit is used to receive information sent by the radar and receive information sent by the target bayonet device; the receiving unit can be a radio frequency (radio frequency, RF) circuit 210 in FIG. 2 , a wireless fidelity (Wireless Fidelity, Wi-Fi ) module 230, bluetooth module 350.

The processor is configured to receive the position information of the first vehicle collected by the radar, and determine the ID of each first vehicle collected by the radar;

After receiving the information of the second vehicle collected by the target checkpoint device, it is determined whether each second vehicle is collected by the target checkpoint device for the first time; wherein, the monitoring area of the target checkpoint device and the radar's The monitoring area has an overlapping area; the information of the second vehicle collected by the target bayonet device includes appearance feature information for identifying the identity of the vehicle and the driving sequence of the vehicle;

If there is a target second vehicle that is collected by the target checkpoint device for the first time, then from the first vehicle collected by the radar, determine the target first vehicle; wherein, when the position information of the target first vehicle is received, when the position information of the target first vehicle is received, the Within the preset time period before the information of the target second vehicle, and the ID of the target first vehicle has not been bound to the appearance feature information within the preset time period; the preset time period is when the target second vehicle is received. a second preset time period before the time of the information of the vehicle;

If the ID of the target first vehicle is not bound to the appearance characteristic information before the preset time period, and the driving sequence determined according to the position information of the target first vehicle is the same as the driving sequence of the target second vehicle, Then bind the ID of the target first vehicle with the appearance characteristic information of the target second vehicle, so as to monitor the vehicles driving on the road.

Optionally, the processor is specifically used for:

If the number of the target first vehicle is one, then determine that the driving sequence of the target vehicle is the first driving sequence;

If there are multiple target first vehicles, for each target first vehicle, according to the time interval between the time of receiving the position information of the target first vehicle and the time of receiving the information of the target second vehicle , the vehicle speed of the target first vehicle, the acceleration of the target first vehicle, determining the distance traveled by the target first vehicle within a time interval;

According to the distance traveled by the target first vehicle within the time interval and the position information of the target first vehicle, determine the position information of the target first vehicle when the target checkpoint device collects the target first vehicle;

The driving order of the target first vehicles is determined according to the position information of the target first vehicles when the target checkpoint device collects the target first vehicles.

Optionally, the processor is also used for:

It is determined that the target first vehicle and the target second vehicle are located in the same lane.

Optionally, the processor is also used for:

If the ID of the target first vehicle has been bound to appearance feature information before the preset time period, and the driving sequence determined according to the position information of the target first vehicle is the same as the driving sequence of the target second vehicle, The ID-bound appearance feature information is corrected according to the confidence level of the target second vehicle's appearance feature information and the confidence level of the ID-bound appearance feature information.

Optionally, wherein the appearance feature information includes a license plate number, and the processor is specifically used to:

If the difference between the confidence degree of the license plate number of the target second vehicle and the confidence degree of the license plate number bound to the ID exceeds a preset value, and the confidence degree of the license plate number of the target second vehicle is greater than The confidence of the ID-bound license plate number is updated to receive the license plate number of the target second vehicle; or

If the difference between the confidence degree of the license plate number of the target second vehicle and the confidence degree of the ID-bound license plate number does not exceed the preset value, then for the ID-bound license plate number Each number is updated according to the confidence degree of the number in the license plate number of the target second vehicle received, and the confidence degree of the number in the license plate number to which the ID has been bound, the number with a higher degree of confidence The number in the license plate number to which the ID is bound.

In an exemplary embodiment, there is also provided a storage medium including instructions, such as a memory including instructions, which can be executed by a processor of an electronic device to complete the above method for acquiring vehicle information. Alternatively, the storage medium may be a non-transitory computer readable storage medium such as ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage medium. equipment etc.

The embodiment of the present invention also provides a computer program product, which, when the computer program product runs on the electronic device, enables the electronic device to implement the vehicle information acquisition method described in any one of the above embodiments of the present invention.

Other embodiments of the invention will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention invented herein. The present invention is intended to cover any modification, use or adaptation of the present invention, these modifications, uses or adaptations follow the general principles of the present invention and include common knowledge or conventional technical means in the technical field not invented by the present invention . The specification and examples are to be considered exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It should be understood that the present invention is not limited to the precise constructions which have been described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims (8)

1. An electronic device, comprising: a receiving unit and a processor;

the receiving unit is used for receiving information sent by the radar and receiving information sent by the target card port equipment;

the processor is used for receiving the position information of the first vehicles collected by the radar and determining the ID of each first vehicle collected by the radar;

after receiving information of second vehicles acquired by target gate equipment, determining whether each second vehicle is acquired by the target gate equipment for the first time; wherein the monitoring area of the target gate device and the monitoring area of the radar have an overlapping area; the information of the second vehicle collected by the target gate device comprises appearance characteristic information used for identifying the identity of the vehicle and the driving sequence of the vehicle;

if the target second vehicle is acquired by the target gate equipment for the first time, determining a target first vehicle from the first vehicles acquired by the radar; the method comprises the steps that the time of receiving position information of a target first vehicle is within a first preset time before the time of receiving information of a target second vehicle, and appearance feature information is not bound to an ID of the target first vehicle in a preset time period; the preset time period is a second preset time period before the time of receiving the information of the target second vehicle;

if the ID of the target first vehicle is not bound with the appearance characteristic information before the preset time period, and the running sequence determined according to the position information of the target first vehicle is the same as the running sequence of the target second vehicle, binding the ID of the target first vehicle and the appearance characteristic information of the target second vehicle to realize monitoring of the vehicles running on the road;

if the number of the target first vehicles is one, determining that the driving sequence of the target vehicles is a first driving sequence;

if the number of the target first vehicles is multiple, determining the distance traveled by each target first vehicle within a time interval according to the time interval between the time of receiving the position information of the target first vehicle and the time of receiving the information of the target second vehicle, the speed of the target first vehicle and the acceleration of the target first vehicle;

determining the position information of the target first vehicle when the target gate equipment acquires the target first vehicle according to the running distance of the target first vehicle in a time interval and the position information of the target first vehicle;

and determining the running sequence of the target first vehicle according to the position information of the target first vehicle when the target first vehicle is collected by the target gate equipment.

2. The electronic device of claim 1, wherein the processor is further configured to:

and determining that the lanes where the target first vehicle and the target second vehicle are located are the same.

3. The electronic device of any of claims 1-2, wherein the processor is further configured to:

and if the ID of the target first vehicle is bound with the appearance characteristic information before the preset time period, and the running sequence determined according to the position information of the target first vehicle is the same as the running sequence of the target second vehicle, correcting the appearance characteristic information bound with the ID according to the confidence coefficient of the appearance characteristic information of the target second vehicle and the confidence coefficient of the appearance characteristic information bound with the ID.

4. The electronic device of claim 3, wherein the appearance characteristic information comprises a license plate number, and wherein the processor is specifically configured to:

if the difference between the confidence coefficient of the received license plate number of the target second vehicle and the confidence coefficient of the ID-bound license plate number exceeds a preset value, and the confidence coefficient of the received license plate number of the target second vehicle is greater than the confidence coefficient of the ID-bound license plate number, updating the ID-bound license plate number into the received license plate number of the target second vehicle; or

If the difference between the confidence level of the received license plate number of the target second vehicle and the confidence level of the ID-bound license plate number does not exceed a preset value, updating the number in the ID-bound license plate number for each number in the ID-bound license plate number according to the number with the larger confidence level in the confidence level of the number in the received license plate number of the target second vehicle and the confidence level of the number in the ID-bound license plate number.

5. A vehicle information acquisition method characterized by comprising:

receiving position information of the first vehicles acquired by the radar, and determining the ID of each first vehicle acquired by the radar;

after receiving information of second vehicles acquired by target gate equipment, determining whether each second vehicle is acquired by the target gate equipment for the first time; wherein a monitoring area of the target gate device and a monitoring area of the radar have an overlapping area; the information of the second vehicle, which is acquired by the target gate device, comprises appearance characteristic information for identifying the identity of the vehicle;

if the target second vehicle is acquired by the target gate equipment for the first time, determining a target first vehicle from the first vehicles acquired by the radar; the method comprises the steps that the time of receiving position information of a target first vehicle is within a first preset time period before the time of receiving information of a target second vehicle, and appearance feature information of an ID of the target first vehicle is not bound in a preset time period; the preset time period is a second preset time period before the time of receiving the information of the target second vehicle;

if the ID of the target first vehicle is not bound with the appearance characteristic information before the preset time period, and the running sequence determined according to the position information of the target first vehicle is the same as the running sequence of the determined target second vehicle, the ID of the target first vehicle and the appearance characteristic information of the target second vehicle are bound to realize monitoring of the vehicles running on the road;

if the number of the target first vehicles is one, determining that the driving sequence of the target vehicles is a first driving sequence;

if the number of the target first vehicles is multiple, determining the distance traveled by each target first vehicle within a time interval according to the time interval between the time of receiving the position information of the target first vehicle and the time of receiving the information of the target second vehicle, the speed of the target first vehicle and the acceleration of the target first vehicle;

determining the position information of the target first vehicle when the target gate equipment acquires the target first vehicle according to the running distance of the target first vehicle in a time interval and the position information of the target first vehicle;

and determining the driving sequence of the target first vehicle according to the position information of the target first vehicle when the target first vehicle is collected by the target gate device.

6. The vehicle information acquisition method according to claim 5, wherein before the binding of the ID of the target first vehicle and the appearance characteristic information of the target second vehicle, the method further comprises:

and determining that the lane where the target first vehicle and the target second vehicle are located is the same.

7. The vehicle information acquisition method according to any one of claims 5 to 6, characterized by further comprising:

if the ID of the target first vehicle is bound with the appearance feature information before the preset time period, and the running sequence determined according to the position information of the target first vehicle is the same as the running sequence of the determined target second vehicle, the ID bound appearance feature information is corrected according to the confidence coefficient of the appearance feature information of the target second vehicle and the confidence coefficient of the ID bound appearance feature information.

8. The vehicle information acquisition method according to claim 7, wherein the appearance feature information includes a license plate number, and the modifying the ID-bound appearance feature information according to the confidence of the appearance feature information of the target second vehicle and the confidence of the ID-bound appearance feature information includes:

if the difference between the confidence coefficient of the received license plate number of the target second vehicle and the confidence coefficient of the ID-bound license plate number exceeds a preset value, and the confidence coefficient of the received license plate number of the target second vehicle is greater than the confidence coefficient of the ID-bound license plate number, updating the ID-bound license plate number into the received license plate number of the target second vehicle; or

If the difference value between the confidence degree of the received license plate number of the target second vehicle and the confidence degree of the ID-bound license plate number does not exceed a preset value, updating the number in the ID-bound license plate number aiming at each number in the ID-bound license plate number according to the number with the larger confidence degree in the confidence degree of the number in the received license plate number of the target second vehicle and the confidence degree of the number in the ID-bound license plate number.

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