CN107085946A - A kind of vehicle positioning method and system based on picture recognition technology - Google Patents
A kind of vehicle positioning method and system based on picture recognition technology Download PDFInfo
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- CN107085946A CN107085946A CN201710443906.4A CN201710443906A CN107085946A CN 107085946 A CN107085946 A CN 107085946A CN 201710443906 A CN201710443906 A CN 201710443906A CN 107085946 A CN107085946 A CN 107085946A
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- vehicle
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- 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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of vehicle positioning method based on picture recognition technology and system, method includes：A, by shooting the image for being positioned vehicle around it installed in the image capture device of Current vehicle；B, by image-recognizing method the image photographed is identified, obtains license plate area therein and license plate number；C, the position for being positioned vehicle is calculated by the position of license plate area position in the picture and Current vehicle, and the position and corresponding license plate number that are positioned vehicle are uploaded into cloud data center and preserved.The vehicle positioning method realized by the present invention, greatly reduce the difficulty of vehicle location implementation, because independent of any equipment and dependence condition being positioned on vehicle, so no longer needing to consider the factor such as destroyed equipment, shielding or the risk removed, simultaneously because the data acquisition of mobility, it is possible to achieve actively carry out the data acquisition of netted three-dimensional for not installing the vehicle of any location equipment.
Description
Technical field
The present invention relates to vehicle electric field, more particularly to a kind of vehicle positioning method based on picture recognition technology and it is
System.
Background technology
Current vehicle positioning technology, according to the extensive degree used, can be divided into following several modes：
One is to rely on and is positioned the electronic position-fixing equipment installed on vehicle to position itself, and such as traditional security protection is tracked
Class GPS device；
Two be by fixed candid photograph equipment, obtain a certain moment vehicle it is all position, generally government department's such as public security
Office generally uses；
Three be the development with development of Mobile Internet technology, and by the smart mobile phone of association, vehicle is entered indirectly using smart mobile phone
Row positioning, such as current net about car is to use this method.
But whether using a kind of that pattern, above method all has obvious shortcoming, the implementation of these methods has one
A little default preconditions, otherwise need that specific equipment is installed on vehicle in advance, otherwise need to set fixed grab in advance
Equipment is clapped, otherwise need first to set the binding relationship with vehicle on mobile phone.These are all some passive vehicle positioning methods,
When the environment of data acquisition is not met, can not know in vehicle location, and the above method exist equipment be removed,
Shielding or the risk of destruction.
Therefore, prior art has yet to be improved and developed.
The content of the invention
In view of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide a kind of vehicle based on picture recognition technology
Localization method and system, it is intended to solve vehicle positioning method in the prior art and belong to passive mode, there is equipment and be removed, shield
Or destruction risk the problem of.
Technical scheme is as follows：
A kind of vehicle positioning method based on picture recognition technology, wherein, including：
A, by shooting the image for being positioned vehicle around it installed in the image capture device of Current vehicle；
B, by image-recognizing method the image photographed is identified, obtains license plate area therein and license plate number；
C, the position for being positioned vehicle is calculated by the position of license plate area position in the picture and Current vehicle,
And the position and corresponding license plate number that are positioned vehicle are uploaded into cloud data center preserved.
The described vehicle positioning method based on picture recognition technology, wherein, also include after the step C：
Cloud data center is processed analysis to the position for being positioned vehicle, draws out the driving trace for being positioned vehicle.
The described vehicle positioning method based on picture recognition technology, wherein, also include after the step C：
Cloud data center is processed analysis to the mechanics for being positioned vehicle, draws out the activity picture for being positioned vehicle
Picture.
The described vehicle positioning method based on picture recognition technology, wherein, the step C is specifically included：
C1, Current vehicle calculated with being positioned by the position of license plate area position in the picture and Current vehicle
The distance between vehicle；
C2, according to the longitude and latitude of the Current vehicle, direction and Current vehicle and the distance between vehicle is positioned, calculate by
Position the longitude and latitude of vehicle.
The described vehicle positioning method based on picture recognition technology, wherein, in the step A, clap at regular intervals
Take the photograph once.
The described vehicle positioning method based on picture recognition technology, wherein, it is less than less than 50% detecting CPU and taking
When, shoot at regular intervals once.
The described vehicle positioning method based on picture recognition technology, wherein, according to the repetitive rate identified to shooting
Interval time is adjusted.
The described vehicle positioning method based on picture recognition technology, wherein, the interval shot using equation below
Time is adjusted：
T = T0+ T0* K, wherein, T0For last interval time, T is this interval time, and K is the repetition identified
Rate.
A kind of Vehicle positioning system based on picture recognition technology, wherein, including：
Photographing module, for by shooting the figure for being positioned vehicle around it installed in the image capture device of Current vehicle
Picture；
Identification module, for the image photographed to be identified by image-recognizing method, obtain license plate area therein with
And license plate number；
Computing module, calculates for the position by license plate area position in the picture and Current vehicle and is positioned
The position of vehicle, and the position and corresponding license plate number that are positioned vehicle are uploaded into cloud data center preserved.
The described Vehicle positioning system based on picture recognition technology, wherein, in addition to：
Processing module, for being processed analysis to the position for being positioned vehicle, draws out the traveling rail for being positioned vehicle
Mark；And/or for being processed analysis to the mechanics for being positioned vehicle, draw out the activity picture for being positioned vehicle
Picture.
Beneficial effect：The vehicle positioning method realized by the present invention, greatly reduces the difficulty of vehicle location implementation, because
Independent of any equipment and dependence condition being positioned on vehicle, thus no longer need to consider equipment destroyed, shielding or
The factors such as the risk that person removes, simultaneously because the data acquisition of mobility, with the increase of equipment amount, it is possible to achieve for not
The vehicle for installing any location equipment actively carries out the data acquisition of netted three-dimensional.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is a kind of flow chart of the vehicle positioning method preferred embodiment based on picture recognition technology of the present invention.
Fig. 2 is vehicle location schematic diagram calculation in the vehicle positioning method of the present invention.
Fig. 3 is a kind of structured flowchart of the Vehicle positioning system preferred embodiment based on picture recognition technology of the present invention.
Embodiment
The present invention provides a kind of vehicle positioning method and system based on picture recognition technology, for make the purpose of the present invention,
Technical scheme and effect are clearer, clear and definite, and the present invention is described in more detail below.It should be appreciated that described herein
Specific embodiment only to explain the present invention, is not intended to limit the present invention.
Referring to Fig. 1, Fig. 1 is a kind of stream of the vehicle positioning method preferred embodiment based on picture recognition technology of the present invention
Cheng Tu, as illustrated, it includes：
S1, by shooting the image for being positioned vehicle around it installed in the image capture device of Current vehicle；
S2, by image-recognizing method the image photographed is identified, obtains license plate area therein and license plate number；
S3, the position for being positioned vehicle is calculated by the position of license plate area position in the picture and Current vehicle
Put, and the position and corresponding license plate number that are positioned vehicle are uploaded into cloud data center and preserved.
The smart machine that can be networked due to being installed on vehicle is more and more, and is typically provided with camera, such as now
Large-size screen monitors machine of popular intelligent back vision mirror, Tachographs and console etc., the function of these equipment is main to be doubted with accident
Based on point record, other functions are not belonging to just need substantially, and equipment is not used well.The present invention exactly utilizes vehicle
The image capture device of upper installation such as camera shoots come the vehicle to surrounding, so that its license plate number and position are obtained,
And be uploaded to cloud data center and preserved, follow-up processing can also be carried out.
The basic ideas that the present invention is realized are as follows：By installed in Current vehicle（Collection vehicle or data acquisition vehicle）
On image capture device（Such as carry the smart machine of camera）, shoot surrounding vehicles（It is positioned vehicle, or target carriage
）Image, then identify the license plate number for being positioned vehicle, finally by Current vehicle position and be positioned the position of vehicle
Relation calculates the position for being positioned vehicle, and the position for being positioned vehicle is uploaded into cloud data center.
The basic realization principle of the present invention is, built-in on the intelligent back vision or large-size screen monitors machine or other equipment of networking to count
According to the software of collection, the data acquisition software is the backstage of resident smart machine system, and user need not carry out any operation, open
It is automatic start after machine.Vehicle in the process of moving, constantly shoot obtain visual range in other vehicles photo and identify
All car plates, the position of other vehicles are calculated then in conjunction with the position of itself and the position relationship of other vehicles, so
The position of these vehicles is uploaded into cloud data center afterwards.
Specifically, in the step S1, by shooting the quilt around it installed in the image capture device of Current vehicle
Position the image of vehicle.
Image capture device therein can be large-size screen monitors machine of intelligent back vision mirror, Tachographs and console etc.,
These equipment all have image collecting function, and the vehicle of surrounding can be shot.It is, of course, also possible in vehicle newly-increased one
A little camera devices, to be shot.
In the step S2, the image photographed is identified by image-recognizing method, car plate therein is obtained
Region and license plate number.
For the identification of license plate area and license plate number, it can use and pass through picture recognition on intelligent terminal in the prior art
Go out the algorithm or SDK of car plate, the speed and precision of identification have all reached the condition of commercialization.If realized on smart machine
Car license recognition is less efficient and CPU consumes larger, the image photographed can also be uploaded into cloud data center by vehicle and carried out
Identification, simply this method is larger for the flow consumption of smart machine.
In the step S3, it is to be positioned the position of vehicle to calculate, and by the position for being positioned vehicle with
And corresponding license plate number uploads to cloud data center and preserved.
As for the position for being positioned vehicle, with simple mode and accurate model.
Simple mode：Also coarse mode can be claimed, its method is exactly by data acquisition vehicle（That is Current vehicle）Position make
To be positioned the position of vehicle, and uploaded.Certainly, due to Current vehicle and it is positioned vehicle and is likely present several meters even
Tens meters of distance, institute is more rough in this way, can not accurately represent to be positioned the position of vehicle, but this method is imitated
Rate highest, it is not very high application scenarios that can meet some requirements.
Wherein the position of Current vehicle can be obtained as follows：By the GPS device of built-in vehicle, it can get and work as
Longitude, latitude and gps time, travel speed, the direct of travel of vehicle in front position.
Accurate model：If necessary to obtain more accurate position, also need further to calculate Current vehicle by other methods
With the position relationship being positioned between vehicle.
Specifically, the step S3 is specifically included：
S31, Current vehicle is calculated by the position of license plate area position in the picture and Current vehicle and determined
The distance between position vehicle；
S32, according to the longitude and latitude of the Current vehicle, direction and Current vehicle and the distance between vehicle is positioned, calculate
It is positioned the longitude and latitude of vehicle.
Wherein, it is highly 15 centimetres, according to car plate because the size of license plate area is fixed in the step S31
Pixel percentage of the region on image is estimated that the relative distance between two cars, by substantial amounts of test, away from
During from between 2 meters to 150 meters, the height ratio of license plate area height and image, therefore can be between 8.36% to 2.45%
Current vehicle is estimated according to the ratio of license plate area height and picture altitude and the distance between vehicle is positioned.For example it is prior
A settable corresponding table, the corresponding different distance of each ratio, then when the height ratio for calculating license plate area height and image
During example, then distance therebetween can be directly inquired about according to the corresponding table.
In the step S32, according to the longitude and latitude of the Current vehicle, direction and Current vehicle and be positioned vehicle it
Between distance, calculate the longitude and latitude for being positioned vehicle.
Due to having calculated Current vehicle in step sl and being positioned the distance between vehicle, as shown in Fig. 2 then root
According to Current vehicle position A longitude and latitude A（x0,y0）, direction（h）(d, can be directly by step for spherical distance between AB
The distance calculated in S31 is as spherical distance), finally calculate the longitude and latitude for being positioned vehicle position B（x1,y1）, PI
For pi, R is earth polar radius, and the unit of length or distance is all rice, then：
x1 = x0+ (d * sin(h * PI / 180.0))/ (R * cos(y0 * PI / 180.0))
y1 = y0+ (d * cos(h * PI / 180.0)) / R
Further, in the step S1, shoot at regular intervals once.The time interval of image taking is too short, can cause place
Reason CPU consumption it is excessive, time interval is excessive, can cause again part data acquisition less than.
In actual use, according to CPU resource consumption combination actual conditions, select suitable by the way of intelligence
Opportunity carries out data acquisition.It is preferred that, when detecting CPU occupancy less than less than 50%, shoot at regular intervals once.I.e.
Image taking can just be carried out less than 50% by only being taken in CPU, and when shot at predetermined intervals.This hair
Bright preferred, interval time is defaulted as 5 seconds.
Further, the interval time of shooting is adjusted according to the repetitive rate identified.
It is adjusted for example with the interval time that equation below is shot：
T = T0+ T0* K, wherein, T0For last interval time, T is this interval time, and K is the repetition identified
Rate.
For example, the interval time of last time identification is 5 seconds, then recognized the repetitive rate with this identification according to last time after 5 seconds
The time interval of next image taking is determined, repetitive rate herein there are two kinds of situations：One kind is 100%, i.e., the car plate recognized twice
Identical, i.e., when K is 100%, T=5 second+5 seconds=10 seconds increased interval time to 10 seconds, and as new T0, it is another
It is 0% to plant, i.e., when the car plate identified twice is different, then continues to keep original T0；When it is unidentified go out car plate when, then T is set0
=50 seconds, that is, for a long time it is unidentified go out car plate, then will then extend interval time, so as to reduce CPU consumption.
Further, also include after the step S3：
Cloud data center is processed analysis to the position for being positioned vehicle, draws out the driving trace for being positioned vehicle.
Further, also include after the step S3：
Cloud data center is processed analysis to the mechanics for being positioned vehicle, draws out the activity picture for being positioned vehicle
Picture.
That is, cloud data center can be according to all data of collection to designated vehicle（It is positioned one in vehicle
Or many）Data be processed analysis, draw out the driving trace of designated vehicle, work that can also further to designated vehicle
Dynamic rule is drawn a portrait, and is supplied to other application to use the result of these data or analysis.
According to the situation of data acquisition, with car plate dimension can analyze the travel time rule of vehicle, car owner family
Or business address, vehicle often haunt ground, frequent travel route, and then the behavioural habits of car owner can be analyzed etc..
The method of the present invention is with the obvious advantage, and reason is as follows：
One is that implementation method is simple.Because this method need not transmit the data of the big byte such as picture, so only needing to seldom
The need for flow can meet data acquisition, in campus network increasingly cheaper today, it can also hold very much otherwise
Change places and marry again away data acquisition expense, these expenses are undertaken by really using and being concerned about data user.
Two be that maintenance cost is extremely low.In most of vehicle location fields, the main purpose for installing location equipment is for car
Management is monitored, and the personnel being managed are to prevent from being managed, and various methods can be taken to make to be arranged on quilt by every means
Equipment on positioning vehicle is abnormal or even has removed equipment, and the air control of such as loan for purchasing car is set, it is necessary to install 4-5 platforms on vehicle
Standby, wireline equipment and wireless device are used in combination, such maintenance cost is high can't ensure it is fully effective.The inventive method is
Gathered by the equipment in data acquisition vehicle by the position of supervision vehicle, and the equipment is the note of accident doubtful point
Record is used, and is that it is abnormal that car owner will not allow it to work in order to ensure the safety and vital interests of car owner.
The thinking that the thinking of the inventive method is also based on big data is proposed, if the number of devices of the method using the present invention
Amount is more, then data acquisition is more perfect.
The present invention also provides a kind of Vehicle positioning system preferred embodiment based on picture recognition technology, as shown in figure 3, its
Including：
Photographing module 100, for by shooting the vehicle that is positioned around it installed in the image capture device of Current vehicle
Image；
Identification module 200, for the image photographed to be identified by image-recognizing method, obtains license plate area therein
And license plate number；
Computing module 300, for the position by license plate area position in the picture and Current vehicle calculate by
The position of vehicle is positioned, and the position and corresponding license plate number that are positioned vehicle are uploaded into cloud data center and is preserved.
The described Vehicle positioning system based on picture recognition technology, wherein, in addition to：
Processing module, for being processed analysis to the position for being positioned vehicle, draws out the traveling rail for being positioned vehicle
Mark；And/or for being processed analysis to the mechanics for being positioned vehicle, draw out the activity picture for being positioned vehicle
Picture.
Ins and outs on said system module have been described in detail in method above, therefore are repeated no more.
In summary, the vehicle positioning method realized by the present invention, greatly reduces the difficulty of vehicle location implementation, because
Independent of any equipment and dependence condition being positioned on vehicle, thus no longer need to consider equipment destroyed, shielding or
The factors such as the risk that person removes, simultaneously because the data acquisition of mobility, with the increase of equipment amount, it is possible to achieve for not
The vehicle for installing any location equipment actively carries out the data acquisition of netted three-dimensional.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved or converted according to the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect scope.
Claims (10)
1. a kind of vehicle positioning method based on picture recognition technology, it is characterised in that including：
A, by shooting the image for being positioned vehicle around it installed in the image capture device of Current vehicle；
B, by image-recognizing method the image photographed is identified, obtains license plate area therein and license plate number；
C, the position for being positioned vehicle is calculated by the position of license plate area position in the picture and Current vehicle,
And the position and corresponding license plate number that are positioned vehicle are uploaded into cloud data center preserved.
2. the vehicle positioning method according to claim 1 based on picture recognition technology, it is characterised in that the step C
Also include afterwards：
Cloud data center is processed analysis to the position for being positioned vehicle, draws out the driving trace for being positioned vehicle.
3. the vehicle positioning method according to claim 1 based on picture recognition technology, it is characterised in that the step C
Also include afterwards：
Cloud data center is processed analysis to the mechanics for being positioned vehicle, draws out the activity picture for being positioned vehicle
Picture.
4. the vehicle positioning method according to claim 1 based on picture recognition technology, it is characterised in that the step C
Specifically include：
C1, Current vehicle calculated with being positioned by the position of license plate area position in the picture and Current vehicle
The distance between vehicle；
C2, according to the longitude and latitude of the Current vehicle, direction and Current vehicle and the distance between vehicle is positioned, calculate by
Position the longitude and latitude of vehicle.
5. the vehicle positioning method according to claim 1 based on picture recognition technology, it is characterised in that the step A
In, shoot at regular intervals once.
6. the vehicle positioning method according to claim 5 based on picture recognition technology, it is characterised in that detecting
When CPU is taken less than less than 50%, shoot at regular intervals once.
7. the vehicle positioning method according to claim 5 based on picture recognition technology, it is characterised in that according to identifying
Repetitive rate the interval time of shooting is adjusted.
8. the vehicle positioning method according to claim 7 based on picture recognition technology, it is characterised in that using following public
The interval time that formula is shot is adjusted：
T = T0+ T0* K, wherein, T0For last interval time, T is this interval time, and K is the repetition identified
Rate.
9. a kind of Vehicle positioning system based on picture recognition technology, it is characterised in that including：
Photographing module, for by shooting the figure for being positioned vehicle around it installed in the image capture device of Current vehicle
Picture；
Identification module, for the image photographed to be identified by image-recognizing method, obtain license plate area therein with
And license plate number；
Computing module, calculates for the position by license plate area position in the picture and Current vehicle and is positioned
The position of vehicle, and the position and corresponding license plate number that are positioned vehicle are uploaded into cloud data center preserved.
10. the Vehicle positioning system according to claim 9 based on picture recognition technology, it is characterised in that also include：
Processing module, for being processed analysis to the position for being positioned vehicle, draws out the traveling rail for being positioned vehicle
Mark；And/or for being processed analysis to the mechanics for being positioned vehicle, draw out the activity picture for being positioned vehicle
Picture.
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| CN201710443906.4A CN107085946A (en) | 2017-06-13 | 2017-06-13 | A kind of vehicle positioning method and system based on picture recognition technology |
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| CN201710443906.4A CN107085946A (en) | 2017-06-13 | 2017-06-13 | A kind of vehicle positioning method and system based on picture recognition technology |
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Family
ID=59605718
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| CN108242152A (en) * | 2018-03-08 | 2018-07-03 | 沈志强 | Roadside Parking manages system |
| CN109711327A (en) * | 2018-12-25 | 2019-05-03 | 深圳市麦谷科技有限公司 | A kind of vehicle assisted location method, system, computer equipment and storage medium |
| CN110164135A (en) * | 2019-01-14 | 2019-08-23 | 腾讯科技（深圳）有限公司 | A kind of localization method, positioning device and positioning system |
| CN110866427A (en) * | 2018-08-28 | 2020-03-06 | 杭州海康威视数字技术股份有限公司 | Vehicle behavior detection method and device |
| CN112419739A (en) * | 2020-11-18 | 2021-02-26 | 联通智网科技有限公司 | Vehicle positioning method and device and electronic equipment |
| CN113366548A (en) * | 2018-12-28 | 2021-09-07 | 北京航迹科技有限公司 | System and method for vehicle identification |
| CN113593229A (en) * | 2021-07-28 | 2021-11-02 | 广州时空位置网科学技术研究院有限公司 | Urban area traffic big data analysis system based on positioning system |
| CN116307619A (en) * | 2023-03-29 | 2023-06-23 | 邦邦汽车销售服务(北京)有限公司 | Rescue vehicle allocation method and system based on data identification |
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| CN108242152A (en) * | 2018-03-08 | 2018-07-03 | 沈志强 | Roadside Parking manages system |
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| CN116307619A (en) * | 2023-03-29 | 2023-06-23 | 邦邦汽车销售服务(北京)有限公司 | Rescue vehicle allocation method and system based on data identification |
| CN116307619B (en) * | 2023-03-29 | 2023-09-26 | 邦邦汽车销售服务(北京)有限公司 | Rescue vehicle allocation method and system based on data identification |
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