CN116229721A - Method, system and storage medium for solving port unmanned set card intersection congestion - Google Patents
Method, system and storage medium for solving port unmanned set card intersection congestion Download PDFInfo
- Publication number
- CN116229721A CN116229721A CN202310246957.3A CN202310246957A CN116229721A CN 116229721 A CN116229721 A CN 116229721A CN 202310246957 A CN202310246957 A CN 202310246957A CN 116229721 A CN116229721 A CN 116229721A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- intersection
- data information
- image data
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Computing Systems (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Health & Medical Sciences (AREA)
- Databases & Information Systems (AREA)
- Evolutionary Computation (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a method, a system and a storage medium for solving the problem of traffic jam of a port unmanned integrated card intersection, wherein the method comprises the following steps that T1, a vehicle runs at the intersection, image data information of the intersection is obtained in real time based on a vehicle-mounted wide-angle camera, the image data information of the intersection is subjected to time stamp marking and processing, and the image data information with the time stamp marking is output; and T2, based on the image data information with the time stamp, if no vehicle is in the image, continuing to move forward to pass through the intersection, and if the vehicle is in the image, obtaining the speed data information of the vehicle in the two adjacent pieces of image data through an adjacent difference algorithm, and outputting the real-time speed data information of the vehicle. The invention has good independence and low cost, and can solve the problem of intersection blockage by judging whether the human-based integrated card exists in the visual field range or not and the speed thereof.
Description
Technical Field
The invention relates to the technical field of unmanned integrated cards, in particular to a method, a system and a storage medium for solving the problem of port unmanned integrated card intersection congestion.
Background
At present, as the number of unmanned collection cards used is increased, even if the unmanned collection cards are used together with a port dispatching system, the phenomenon that a plurality of unmanned collection cards 'collide' at an intersection (without traffic lights) to cause the locking of the unmanned collection cards cannot be avoided, the operation efficiency of the unmanned collection cards at the port is seriously influenced, the position and speed information of other used vehicles are obtained through v2x, then whether the vehicles and the current vehicles are blocked at the current intersection to control the vehicles which are blocked at the intersection is judged, the method is large in calculation amount and high in cost of software and hardware, under the condition, the current path planning algorithm is large in deviation between the planned path and the actually planned path, the method can solve the phenomenon that the vehicles are piled up to enter the intersection, but the dispatching optimization amount in other steps is sacrificed to a certain extent to meet the smoothness of the intersection, so that the whole dispatching system is biased towards the dispatching optimization of the intersection, and the whole collection card dispatching efficiency is not feasible.
Disclosure of Invention
In view of the defects of the prior art, the invention provides the method, the system and the storage medium for solving the problem of intersection congestion of the unmanned collection card in the port, which not only improves the transportation efficiency of the unmanned collection card, but also has good independence and low cost.
In order to achieve the above object and other related objects, the present invention provides the following technical solutions:
a method of resolving port unmanned set card intersection congestion, the method comprising:
t1, a vehicle runs at an intersection, acquires intersection image data information in real time based on a vehicle-mounted wide-angle camera, performs time stamp marking on the intersection image data information, processes the intersection image data information, and outputs image data information with the time stamp marking;
t2, based on the image data information with the timestamp, if no vehicle is in the image, continuing to move forward to pass through the intersection, if the vehicle is in the image, obtaining the speed data information of the vehicle in the two adjacent pieces of image data through an adjacent difference algorithm, and outputting the real-time speed data information of the vehicle;
and T3, based on the real-time speed data information of the vehicle, continuing to move forward through the intersection if the real-time speed of the vehicle is zero, and waiting and then passing through the intersection if the real-time speed of the vehicle is greater than zero.
Further, in step T2, the adjacent difference algorithm includes:
t21 acquiring the relative distance H of the vehicle at time t based on the time-stamped image data information t And the relative distance between the vehicle and the time t+m is H t+m ；
T22 based on the relative distance H of the vehicle t And H t+m Constructing a relative velocity function,
and T23, outputting real-time speed data information of the vehicle according to the relative speed function.
Further, in step T22, the range of the first relative parameter α is any real number in (0, 1), and the range of the second relative parameter β is any real number in (0, 1).
Further, the sum of the first relative parameter α and the second relative parameter β is equal to 1.
Further, the processing of the intersection image data information comprises removing repeated pictures and filtering noise.
To achieve the above and other related objects, the present invention also provides a system for solving the congestion at an unmanned set card intersection at a port, the system comprising:
the image acquisition module is used for acquiring pavement image data information;
the identification module is connected with the image acquisition module and used for identifying information in the image;
the calculation analysis module is connected with the identification module and is used for processing information in the image and calculating real-time speed data information of the vehicle;
and the execution module is connected with the calculation and analysis module and used for controlling the vehicle.
Further, the image acquisition module comprises a vehicle-mounted wide-angle camera.
Further, the system also includes a data storage module for storing the image data information and the real-time speed data information of the vehicle.
Further, the data storage module is connected with the image acquisition module, the identification module, the calculation analysis module and the execution module.
To achieve the above and other related objects, the present invention also provides a computer-readable storage medium having stored thereon a computer program programmed or configured to perform any one of the methods of solving the congestion at the unmanned set card intersection of a port.
The invention has the following positive effects:
1. the invention solves the problem of the jamming of the unmanned collection card port through the vehicle-mounted wide-angle camera, has good independence and low cost, and can solve the problem of the jamming of the intersection by judging whether the unmanned collection card exists in the visual field and the speed of the unmanned collection card.
2. The invention has high success rate, and the problem of intersection blockage in the port environment can be effectively avoided by deciding whether the own vehicle passes through the intersection preferentially or not through the method of simulating human beings and sensing the card collecting state in the local range through the camera.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of the method logic of the present invention;
FIG. 3 is a schematic diagram of the method according to the present invention.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Example 1: as shown in fig. 1, a method for solving the congestion at an unmanned collection card intersection of a port, the method comprising:
t1, a vehicle runs at an intersection, acquires intersection image data information in real time based on a vehicle-mounted wide-angle camera, performs time stamp marking on the intersection image data information, processes the intersection image data information, and outputs image data information with the time stamp marking;
t2, based on the image data information with the timestamp, if no vehicle is in the image, continuing to move forward to pass through the intersection, if the vehicle is in the image, obtaining the speed data information of the vehicle in the two adjacent pieces of image data through an adjacent difference algorithm, and outputting the real-time speed data information of the vehicle;
and T3, based on the real-time speed data information of the vehicle, continuing to move forward through the intersection if the real-time speed of the vehicle is zero, and waiting and then passing through the intersection if the real-time speed of the vehicle is greater than zero.
In this embodiment, in step T2, the adjacent difference algorithm includes:
t21 acquiring the relative distance H of the vehicle at time t based on the time-stamped image data information t And the relative distance between the vehicle and the time t+m is H t+m ；
T22 based on the relative distance H of the vehicle t And H t+m Constructing a relative velocity function,
and T23, outputting real-time speed data information of the vehicle according to the relative speed function.
In this embodiment, in step T22, the range of values of the first relative parameter α is any real number in (0, 1), and the range of values of the second relative parameter β is any real number in (0, 1).
In this embodiment, the sum of the first relative parameter α and the second relative parameter β is equal to 1.
In this embodiment, the processing of the intersection image data information includes removing duplicate pictures and filtering noise.
As shown in fig. 2, on a high-precision map, the point a is the actual position of the vehicle, and no unmanned collecting card exists in the wide-angle camera range of the vehicle a, so that the vehicles a drive away from each other through an intersection according to a fixed planning path; as shown in fig. 3, the wide-angle camera is turned on by another vehicle B, and at this time, the speed of the unmanned pickup card is obtained when the unmanned pickup card is present in the range of the wide-angle camera.
Judging the speed, if the speed is greater than 0, stopping the B vehicle, and driving away from the intersection according to a fixed planning path after the A vehicle is driven away; otherwise, the B vehicle can drive away through the intersection according to the fixed planning path.
Example 2: the present invention is further described below based on a method for solving the congestion at the unmanned collection card intersection in the port in embodiment 1.
To achieve the above and other related objects, the present invention also provides a system for solving the congestion at an unmanned set card intersection at a port, the system comprising:
the image acquisition module is used for acquiring pavement image data information;
the identification module is connected with the image acquisition module and used for identifying information in the image;
the calculation analysis module is connected with the identification module and is used for processing information in the image and calculating real-time speed data information of the vehicle;
and the execution module is connected with the calculation and analysis module and used for controlling the vehicle.
In this embodiment, the image acquisition module includes a vehicle-mounted wide-angle camera.
In this embodiment, the system further includes a data storage module for storing the image data information and the real-time speed data information of the vehicle.
In this embodiment, the data storage module is connected to the image acquisition module, the identification module, the calculation analysis module, and the execution module.
To achieve the above and other related objects, the present invention also provides a computer-readable storage medium having stored thereon a computer program programmed or configured to perform any one of the methods of solving the congestion at the unmanned set card intersection of a port.
Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
In conclusion, the invention not only improves the transportation efficiency of the unmanned integrated card, but also has good independence and low cost.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (10)
1. A method for solving the problem of port unmanned set card intersection congestion, the method comprising:
t1, a vehicle runs at an intersection, acquires intersection image data information in real time based on a vehicle-mounted wide-angle camera, performs time stamp marking on the intersection image data information, processes the intersection image data information, and outputs image data information with the time stamp marking;
t2, based on the image data information with the timestamp, if no vehicle is in the image, continuing to move forward to pass through the intersection, if the vehicle is in the image, obtaining the speed data information of the vehicle in the two adjacent pieces of image data through an adjacent difference algorithm, and outputting the real-time speed data information of the vehicle;
and T3, based on the real-time speed data information of the vehicle, continuing to move forward through the intersection if the real-time speed of the vehicle is zero, and waiting and then passing through the intersection if the real-time speed of the vehicle is greater than zero.
2. The method for solving the congestion at the unmanned collection card intersection of the port according to claim 1, wherein in the step T2, the adjacent difference algorithm comprises:
t21 acquiring the relative distance H of the vehicle at time t based on the time-stamped image data information t And the relative distance between the vehicle and the time t+m is H t+m ；
T22 based on the relative distance H of the vehicle t And H t+m Constructing a relative velocity function,
v＝αH t+m -βH t wherein alpha is a first relative parameter, beta is a second relative parameter, m is two phases m
The time difference of adjacent time, v, is the speed of the vehicle;
and T23, outputting real-time speed data information of the vehicle according to the relative speed function.
3. The method for solving the congestion at the unmanned collection card intersection of the port according to claim 2, wherein in the step T22, the value range of the first relative parameter α is any real number in (0, 1), and the value range of the second relative parameter β is any real number in (0, 1).
4. The method for solving the congestion at the unmanned collection card intersection of the port according to claim 3, wherein the method comprises the following steps: the sum of the first relative parameter a and the second relative parameter β is equal to 1.
5. The method for solving the congestion at the unmanned collection card intersection of the port according to claim 1, wherein the method comprises the following steps: the processing of the intersection image data information comprises removing repeated pictures and filtering noise.
6. A system for resolving congestion at an unmanned collection card intersection at a port, the system comprising:
the image acquisition module is used for acquiring pavement image data information;
the identification module is connected with the image acquisition module and used for identifying information in the image;
the calculation analysis module is connected with the identification module and is used for processing information in the image and calculating real-time speed data information of the vehicle;
and the execution module is connected with the calculation and analysis module and used for controlling the vehicle.
7. The system for solving the congestion at the unmanned collection card intersection of the port according to claim 6, wherein: the image acquisition module comprises a vehicle-mounted wide-angle camera.
8. The system for solving the congestion at the unmanned collection card intersection of the port according to claim 6, wherein: the system further includes a data storage module for storing the image data information and the real-time speed data information of the vehicle.
9. The system for solving the congestion at the unmanned collection card intersection of the port according to claim 8, wherein: the data storage module is connected with the image acquisition module, the identification module, the calculation analysis module and the execution module.
10. A computer readable storage medium having stored thereon a computer program programmed or configured to perform the method of solving a harbor unmanned set card intersection congestion as claimed in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310246957.3A CN116229721A (en) | 2023-03-10 | 2023-03-10 | Method, system and storage medium for solving port unmanned set card intersection congestion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310246957.3A CN116229721A (en) | 2023-03-10 | 2023-03-10 | Method, system and storage medium for solving port unmanned set card intersection congestion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116229721A true CN116229721A (en) | 2023-06-06 |
Family
ID=86580426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310246957.3A Pending CN116229721A (en) | 2023-03-10 | 2023-03-10 | Method, system and storage medium for solving port unmanned set card intersection congestion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116229721A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010026618A (en) * | 2008-07-16 | 2010-02-04 | Alpine Electronics Inc | On-vehicle navigation device and intersection entry guidance method |
| US20160161270A1 (en) * | 2014-12-09 | 2016-06-09 | Toyota Motor Engineering & Manufacturing North America, Inc. | Autonomous vehicle detection of and response to yield scenarios |
| US20200168097A1 (en) * | 2018-11-27 | 2020-05-28 | Honda Motor Co., Ltd. | Vehicle control device, vehicle control method, and storage medium |
| CN111583678A (en) * | 2020-04-30 | 2020-08-25 | 福建中科云杉信息技术有限公司 | Unmanned truck port horizontal transportation system and method |
-
2023
- 2023-03-10 CN CN202310246957.3A patent/CN116229721A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010026618A (en) * | 2008-07-16 | 2010-02-04 | Alpine Electronics Inc | On-vehicle navigation device and intersection entry guidance method |
| US20160161270A1 (en) * | 2014-12-09 | 2016-06-09 | Toyota Motor Engineering & Manufacturing North America, Inc. | Autonomous vehicle detection of and response to yield scenarios |
| US20200168097A1 (en) * | 2018-11-27 | 2020-05-28 | Honda Motor Co., Ltd. | Vehicle control device, vehicle control method, and storage medium |
| CN111583678A (en) * | 2020-04-30 | 2020-08-25 | 福建中科云杉信息技术有限公司 | Unmanned truck port horizontal transportation system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Rasheed et al. | Automated number plate recognition using hough lines and template matching | |
| RU2017142730A (en) | METHOD OF CAR NAVIGATION (PARTS) AND RELATED AUTONOMOUS VEHICLE | |
| CN109284664B (en) | Driver assistance system and guardrail detection method | |
| CN108133484B (en) | Automatic driving processing method and device based on scene segmentation and computing equipment | |
| US11092692B2 (en) | Apparatus and method for recognizing location in autonomous vehicle | |
| US12027052B2 (en) | Computer-implemented method for determining similarity values of traffic scenarios | |
| CN113205692B (en) | Automatic identification method for road side parking position abnormal change | |
| CN114663852A (en) | Method and device for constructing lane line graph, electronic equipment and readable storage medium | |
| CN111429463A (en) | Instance splitting method, instance splitting device, electronic equipment and storage medium | |
| CN116513171A (en) | Automatic driving collision risk detection method, system and medium based on lane information | |
| Sahu et al. | A comparative analysis of deep learning approach for automatic number plate recognition | |
| Sunny et al. | Image based automatic traffic surveillance system through number-plate identification and accident detection | |
| CN115100628B (en) | Obstacle recognition method and device for automatic driving vehicle | |
| CN116229721A (en) | Method, system and storage medium for solving port unmanned set card intersection congestion | |
| CN113189610B (en) | Map-enhanced autopilot multi-target tracking method and related equipment | |
| CN116824549B (en) | Target detection method and device based on multi-detection network fusion and vehicle | |
| DE102019129463A1 (en) | Method and device for recognizing and tracking a dynamic object | |
| CN117173669A (en) | Picture identification method and system based on artificial intelligence | |
| CN113160396A (en) | Method for establishing map model, method for generating real-time map and map system | |
| Rathi et al. | License plate detection using YOLO v4 | |
| CN116718134A (en) | Train body breakage state detection method, train body breakage state detection device, computer and storage medium | |
| CN115235497A (en) | Path planning method and device, automobile and storage medium | |
| CN114360248A (en) | Traffic dynamic adjustment method, system, equipment and medium based on big data | |
| CN113076838A (en) | Method, system, equipment and storage medium for identifying marshalling sequence of railway container station box numbers | |
| CN117237889A (en) | Automatic driving-based fusion marking lane line optimization method, system and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |