CN-121982903-A - Alternate traffic discovery method for motor vehicle without regulation

CN121982903ACN 121982903 ACN121982903 ACN 121982903ACN-121982903-A

Abstract

The invention relates to the technical field of intelligent traffic control, and particularly discloses a method for finding out alternate traffic of a motor vehicle without regulation, which comprises the steps of acquiring a snap shot image; and when judging that the rightmost lane and the converging lane are in a congestion queuing state based on the motor density of the rightmost lane and the motor density of the converging lane, sequencing the motor of the rightmost lane and the motor of the converging lane respectively, and then acquiring the motor driving sequence of the converging lane from the snapshot image so as to judge whether the motor of the two lanes accords with an alternate passing rule. The method for finding the illegal behavior of the motor vehicle which is not in accordance with the regulation is used for realizing the high-accuracy automatic identification of the illegal behavior which is not in accordance with the regulation on the confluence road section without signal lamps, and effectively avoiding the interference and the erroneous judgment.

Inventors

KONG CHENCHEN
LI JIE
ZHANG HUICHEN
MA CHENYANG
YU CHEN
Zhao beichen
ZHANG PEI

Assignees

公安部交通管理科学研究所

Dates

Publication Date: 20260505
Application Date: 20260130

Claims (8)

1. A method for finding out an alternate passage of a motor vehicle which is not specified, characterized in that the method for finding out an alternate passage of a motor vehicle which is not specified comprises the steps of: step S1, acquiring a snapshot image through a camera, wherein the snapshot range of the camera only covers the rightmost lane and the converging lane of a main line of a road and the corresponding converging lane entrance, and the motor vehicle of the rightmost lane and the motor vehicle of the converging lane enter the corresponding converging lane entrance; s2, detecting the motor vehicle of the rightmost lane and the motor vehicle of the entering lane from the snapshot image, and calculating the motor vehicle density of the rightmost lane and the motor vehicle density of the entering lane; Step S3, judging whether the rightmost lane and the converging lane are in a congestion queuing state or not based on the motor vehicle density of the rightmost lane and the motor vehicle density of the converging lane, if both lanes are in the congestion queuing state, executing step S4, otherwise, returning to step S3; And S4, respectively sequencing the motor vehicles of the rightmost lane and the motor vehicles of the converging lane, acquiring the motor vehicle driving sequence of the converging lane entrance from the snapshot image, and finally judging whether the motor vehicles of the rightmost lane and the motor vehicles of the converging lane accord with the alternate passing rule according to the motor vehicle driving sequence of the converging lane entrance.
2. A method for finding an alternate passage of an automobile not specified in claim 1, wherein said step S1 comprises: And installing a high-definition camera at an appropriate position at the upstream of the intersection, adjusting the pitch angle and the horizontal angle of the high-definition camera through on-site debugging, calibrating the traffic areas of the rightmost lane and the converging lane of the main line of the road, and ensuring that the snapshot range of the camera only covers the rightmost lane and the converging lane of the main line of the road and the corresponding converging lane entrance.
3. A method for finding out an alternate passage of a vehicle not specified in claim 1, wherein said detecting a right-most lane vehicle and an entering lane vehicle from said snap shot image comprises: Identifying the rightmost road area in the snapshot image as the junction lane by using a pixel level dividing algorithm, identifying the left adjacent area as the rightmost lane of the road main line, and recording the pixel area of the junction lane and the pixel area of the rightmost lane of the road main line; Detecting each motor vehicle from the snap shot image by using a pixel level dividing algorithm, recording the pixel area and the mass center of each motor vehicle area, and judging the lane to which each motor vehicle belongs according to the lane area in which the mass center of each motor vehicle area falls; Wherein the motor vehicle is driven in the converging lane if the centroid of the motor vehicle region falls within the converging lane, and is driven in the rightmost lane of the road main line if the centroid of the motor vehicle region falls within the rightmost lane of the road main line.
4. A method of finding an alternate passage of an automobile which is not specified in claim 3, wherein said calculating the density of the automobile in the rightmost lane and the density of the automobile in the entering lane comprises: calculating the sum of pixel areas of all the motor vehicle areas in the rightmost lane of the road main line and the sum of pixel areas of all the motor vehicle areas in the converging lane; dividing the sum of the pixel areas by the pixel area of the corresponding lane to obtain the motor vehicle density of the corresponding lane.
5. The method according to claim 1, wherein the determining whether the rightmost lane and the merging lane are both in the congestion queuing state based on the vehicle density of the rightmost lane and the vehicle density of the merging lane comprises: when the motor vehicle density of the rightmost lane is greater than or equal to a preset threshold value, judging that the rightmost lane is in a congestion queuing state, otherwise, judging that the rightmost lane is not in the congestion queuing state; And when the density of the motor vehicles in the converging lane is greater than or equal to the preset threshold value, judging that the converging lane is in a congestion queuing state, and otherwise, judging that the converging lane is not in the congestion queuing state.
6. A method of alternate traffic finding as defined in claim 1, wherein said ranking of said rightmost vehicle and said merging vehicle, respectively, comprises: Sequentially giving upper case numbers A, B and C to the motor vehicles on the rightmost lane according to the sequence of the time stamps of the motor vehicles reaching the entrance of the merging lane, and sequencing the motor vehicles, wherein the upper case letters are circulated from A to Z; and (3) sequentially giving numbers 1,2 and 3 to the motor vehicles converging to the lanes according to the sequence of the time stamps of the motor vehicles reaching the entrance of the converging lanes, sequencing, and circulating the numbers according to 1 to 20.
7. The method according to claim 6, wherein the step of determining whether the vehicles in the right-most lane and the vehicles in the merging lane meet the alternate traffic rule according to the vehicle entering sequence of the merging lane entrance comprises: And if the driving sequence of the motor vehicles at the entrance of the merging lane accords with the letter-number-letter-number, or the number-letter-number-letter, judging that the motor vehicle at the rightmost lane and the motor vehicle at the merging lane accord with the alternate traffic rule and returning to the step S3, otherwise, judging that the motor vehicle at the rightmost lane and the motor vehicle at the merging lane do not accord with the alternate traffic rule and locking the illegal robbing vehicle so as to carry out the next step of management and control measures.
8. A method of alternate pass discovery of an unscheduled motor vehicle in accordance with claim 7 further comprising: If the driving sequence of the motor vehicle at the entrance of the converging lane is A-1, judging that the motor vehicle meets the alternate passing rule; If the driving sequence of the motor vehicles at the entrance of the confluent lane is A-B, judging that the motor vehicles do not accord with the alternate passing rule, wherein the motor vehicles with the number of B are illegal robbing vehicles; If the driving sequence of the motor vehicles at the entrance of the confluent lane is A-1-B-C-D, the motor vehicles are sequentially divided into four groups of A-1 and 1-B, B-C, C-D, and B-C, C-D is judged to be not in accordance with the alternate passing rule, wherein the motor vehicles with the numbers of C and D are illegal robbing vehicles.

Description

Alternate traffic discovery method for motor vehicle without regulation Technical Field The invention relates to the technical field of intelligent traffic control, in particular to a method for finding out alternate traffic of motor vehicles without regulation. Background The alternate traffic is also called zipper traffic, and refers to a traffic mode in which vehicles on two sides of a road run into a converging road in turn according to the order of right-left or main-auxiliary traffic at a road section and an intersection where the traffic signals are not controlled and vehicles are queued and slowly run. The core logic of the system is to balance the road rights of vehicles in different lanes by defining the passing sequence, so as to avoid efficiency loss caused by unordered robbery. The forty-five rule of the road traffic safety law of the people's republic of China states that motor vehicles should alternately pass through a reduced road section or intersection of a lane or an intersection without traffic lights, traffic signs, traffic marks or traffic police command when the motor vehicles meet parking and queuing or slowly travel. The fifty-third requirement for further refinement of the regulations of the road traffic safety law is that the lane reduction road section is definitely required to be alternately driven in one by one per lane. However, because the number of the zipper-type traffic intersections is small, the probability of the driver encountering such a scene is low, the driver is not familiar with how to normally drive in the scene, and thus congestion and accident frequency are caused, and the safety of the driver and the property of the vehicle are threatened. Disclosure of Invention The invention aims to overcome the defects, and provides a method for finding out the alternate traffic of the motor vehicle without regulation, which can automatically identify the illegal act of 'alternate traffic without regulation' and provide reliable basis for traffic law enforcement. As a first aspect of the present invention, there is provided an alternate passage discovery method for an automobile, which includes the steps of: step S1, acquiring a snapshot image through a camera, wherein the snapshot range of the camera only covers the rightmost lane and the converging lane of a main line of a road and the corresponding converging lane entrance, and the motor vehicle of the rightmost lane and the motor vehicle of the converging lane enter the corresponding converging lane entrance; s2, detecting the motor vehicle of the rightmost lane and the motor vehicle of the entering lane from the snapshot image, and calculating the motor vehicle density of the rightmost lane and the motor vehicle density of the entering lane; Step S3, judging whether the rightmost lane and the converging lane are in a congestion queuing state or not based on the motor vehicle density of the rightmost lane and the motor vehicle density of the converging lane, if both lanes are in the congestion queuing state, executing step S4, otherwise, returning to step S3; And S4, respectively sequencing the motor vehicles of the rightmost lane and the motor vehicles of the converging lane, acquiring the motor vehicle driving sequence of the converging lane entrance from the snapshot image, and finally judging whether the motor vehicles of the rightmost lane and the motor vehicles of the converging lane accord with the alternate passing rule according to the motor vehicle driving sequence of the converging lane entrance. Further, in the step S1, the method includes: And installing a high-definition camera at an appropriate position at the upstream of the intersection, adjusting the pitch angle and the horizontal angle of the high-definition camera through on-site debugging, calibrating the traffic areas of the rightmost lane and the converging lane of the main line of the road, and ensuring that the snapshot range of the camera only covers the rightmost lane and the converging lane of the main line of the road and the corresponding converging lane entrance. Further, the method for detecting the motor vehicle of the rightmost lane and the motor vehicle of the remittance lane from the snap shot image comprises the following steps: Identifying the rightmost road area in the snapshot image as the junction lane by using a pixel level dividing algorithm, identifying the left adjacent area as the rightmost lane of the road main line, and recording the pixel area of the junction lane and the pixel area of the rightmost lane of the road main line; Detecting each motor vehicle from the snap shot image by using a pixel level dividing algorithm, recording the pixel area and the mass center of each motor vehicle area, and judging the lane to which each motor vehicle belongs according to the lane area in which the mass center of each motor vehicle area falls; Wherein the motor vehicle is driven in the converging lane if the centroid of the motor v