WO2023044656A1

WO2023044656A1 - Vehicle passage warning method and apparatus, and vehicle-mounted terminal

Info

Publication number: WO2023044656A1
Application number: PCT/CN2021/119858
Authority: WO
Inventors: 刘军; 张潜; 黄凯明
Original assignee: 深圳市锐明技术股份有限公司
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2023-03-30
Also published as: CN113994391A; CN113994391B

Abstract

A vehicle passage warning method and apparatus, and a vehicle-mounted terminal. The method comprises: acquiring an image, wherein the image is obtained by a camera photographing the environment in front of a vehicle; identifying whether the image includes a portal; if the image includes a portal, determining the height of the portal in the image; determining the distance between the camera and the portal; calculating the actual height of the portal according to the height of the portal in the image, the distance between the camera and the portal, and a parameter of the camera; and if the actual height of the portal is lower than the height of the vehicle, giving a warning to stop passage of the vehicle. By means of the method, damage to a vehicle when passing through a portal can be avoided.

Description

Vehicle passage reminder method, device and vehicle-mounted terminal

technical field

The present application relates to the technical field of image processing, and in particular to a vehicle traffic reminder method, device, vehicle-mounted terminal, and computer-readable storage medium.

Background technique

Vehicles often encounter culverts or bridge holes during operation. Since the culvert or the bridge hole has a certain height, and the vehicle itself also has a certain height, if you want the vehicle to pass through the culvert (or bridge hole) smoothly, you need to ensure that the height of the vehicle is lower than the height of the culvert (or bridge hole).

Contents of the invention

The embodiment of the present application provides a vehicle traffic reminder method, device and vehicle-mounted terminal, which can avoid the problem of vehicle damage caused by the height of the vehicle being higher than the height of the culvert (or bridge opening) when the vehicle passes through the culvert (or bridge opening).

In the first aspect, the embodiment of the present application provides a vehicle traffic reminder method, which is applied to a vehicle-mounted terminal, including:

Acquiring an image, the image is obtained by taking pictures of the scene in front of the vehicle by the camera;

identifying whether an opening is contained in the image;

If a hole is included, then determine the height of the hole in the image;

determining the distance between the camera and the hole;

Calculate the actual height of the hole according to the height of the hole in the image, the distance between the camera and the hole, and the parameters of the camera;

If the actual height of the hole is lower than the height of the vehicle, the vehicle is reminded to suspend traffic.

In the second aspect, the embodiment of the present application provides a vehicle passage reminding device, which is applied to a vehicle-mounted terminal, including:

An image acquisition module, configured to acquire an image, the image is obtained by taking pictures of the scene in front of the vehicle by the camera;

A hole identification module, configured to identify whether a hole is included in the image;

The height determination module of the hole in the image is used to determine the height of the hole in the image if the hole is included;

A distance determination module between the camera and the hole, configured to determine the distance between the camera and the hole;

The actual height determination module of the hole is used to calculate the actual height of the hole according to the height of the hole in the image, the distance between the camera and the hole and the parameters of the camera;

A reminder module, configured to remind the vehicle to stop passing if the actual height of the hole is lower than the height of the vehicle.

In a third aspect, an embodiment of the present application provides a vehicle-mounted terminal, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, Implement the method as described in the first aspect.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to the first aspect is implemented.

In the fifth aspect, the embodiment of the present application provides a computer program product, which, when the computer program product runs on the vehicle-mounted terminal, causes the vehicle-mounted terminal to execute the method described in the first aspect above.

Compared with the prior art, the embodiments of the present application have the following beneficial effects:

In the embodiment of the present application, since it can be judged from the captured image whether there is a hole in front of the vehicle, and the actual height of the hole can be calculated, that is, even if there is no height limit sign at the hole, the actual height of the hole can be calculated , and then when the actual height of the hole is lower than the height of the vehicle, a reminder can be issued, so that the driver can control the vehicle in time and no longer move forward, thereby avoiding damage to the vehicle when passing through the hole forcibly.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required in the embodiments or exemplary technical descriptions.

FIG. 1 is a flow chart of a method for reminding vehicles to pass according to an embodiment of the present application;

Fig. 2 is a height schematic diagram of an arched bridge cavity in an image provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a network structure of a preset target detection model provided by an embodiment of the present application;

Fig. 4 is a schematic diagram of a network structure of a preset regression model provided by an embodiment of the present application;

Fig. 5 is a schematic diagram of an upper tangent line and a lower bound of a hole provided by an embodiment of the present application;

Fig. 6 is a schematic diagram of the upper tangent and the lower boundary of another hole provided by an embodiment of the present application;

Fig. 7 is a schematic structural diagram of a vehicle passage reminder device provided by an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a vehicle-mounted terminal provided by an embodiment of the present application.

Detailed ways

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and/or collections thereof.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

Reference to "one embodiment" or "some embodiments" or the like in the specification of the present application means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically stated otherwise.

Embodiment one:

There may be some culverts (or bridge holes) on the current road, and some of these culverts (or bridge holes) have height limit signs, but some do not have height limit signs. When a vehicle needs to pass through a culvert, if the culvert has a height limit sign, the driver can choose whether to continue driving in the direction of the culvert according to the height limit sign. For example, when the height in the height limit sign is higher than the height of the vehicle, the driver drives the vehicle Continue toward the culvert. However, if the culvert does not have a height limit sign, it will be difficult for the driver to accurately judge whether it is possible to continue driving in the direction of the culvert. For example, if there is no height limit sign in a culvert, and the driver estimates that the height of the culvert is higher than the height of the vehicle, even if the driver drives the vehicle to continue driving towards the culvert, it will not be able to pass through the culvert smoothly, and it will also make the vehicle pass through the culvert forcibly. damage in the process.

In order to solve the above-mentioned technical problems, the embodiment of the present application provides a vehicle traffic reminder method. In this method, the scene in front of the vehicle is captured by the camera, and the captured image is analyzed. If the analyzed image contains a hole, then Calculate the actual height of the hole. If the actual height of the hole is lower than the height of the vehicle, the vehicle is reminded to suspend traffic. That is, regardless of whether the hole has a height limit sign, the actual height of the hole can be calculated, and when the actual height of the hole is lower than the height of the vehicle, the vehicle is reminded to suspend traffic, so as to avoid the height of the vehicle being too high When, forcibly passing through the culvert caused damage.

The following describes the vehicle passage reminder method provided by the embodiment of the present application with reference to the accompanying drawings.

Fig. 1 shows a flow chart of a vehicle passage reminder method provided by an embodiment of the present application, which is applied to a vehicle-mounted terminal, and is described in detail as follows:

Step S11, acquiring an image, which is obtained by capturing the scene in front of the vehicle by the camera.

Specifically, a camera is installed on the vehicle, and the lens of the camera faces the scene in front of the vehicle, and is used to photograph the scene in the traveling direction of the vehicle. The camera is connected with the vehicle-mounted terminal, and is used for sending the images captured by it to the vehicle-mounted terminal.

In order to be able to identify in time whether there is a hole (such as a bridge hole, etc.) in front of the vehicle, the camera is set to take pictures of the scene in front of the vehicle in real time or when the interval time (such as an interval of 2 seconds) arrives.

In some embodiments, it is considered that openings (such as culverts) usually appear in the suburbs and do not appear in some areas, for example, they usually do not appear in urban areas. Wherein, whether the vehicle is currently in a suburb or an urban area can be judged according to the geographical information obtained by the navigation. That is, the image can be acquired again when it is detected that the vehicle is driving in a designated area (such as the suburbs of a city), and when the vehicle is driving in the downtown area of the city, the image is not acquired, so that the image can be acquired in time for subsequent timely processing of the image. Analysis can also avoid the waste of resources caused by the camera acquiring images all the time.

In some embodiments, the aforementioned interval duration is determined according to the current speed of the vehicle.

In this embodiment, considering that the faster the speed of the vehicle, the longer the distance it travels in the same time, that is, the greater the probability of encountering the hole, therefore, the interval can be set to be inversely proportional to the current speed of the vehicle, that is, the current The greater the speed, the shorter the corresponding interval. Since the present embodiment acquires images after the interval time arrives, less resources of the camera are consumed by acquiring images at intervals than when acquiring images in real time. In addition, since the interval time is related to the current speed of the vehicle, it can ensure that the image of the scene in front of the vehicle can be acquired in time.

Step S12, identifying whether the image contains a hole.

The openings here are bridge holes or culverts.

In this embodiment, whether the image contains a hole can be identified according to the pixel value in the image, the shape and size of the object in the image, and the like. For example, assuming that the entrance here is a culvert, the color of the area of the culvert in the image is usually darker because the light of the culvert is usually insufficient, that is, the pixel value corresponding to the area of the culvert in the image is biased towards the pixel value corresponding to black. For example, compared with ordinary small holes, culverts are usually larger, that is, the area of the culvert in the image will occupy a certain proportion in the image, and the proportion is related to the current distance between the vehicle and the culvert.

In some embodiments, an object detection model may also be pre-trained, and the object detection model may be used to identify whether an image contains a hole.

Step S13, if the hole is included, then determine the height of the hole in the image.

FIG. 2 shows a schematic diagram of the height of an arched bridge opening in the image. In FIG. 2 , the distance between the upper and lower boundaries of the arch is the height of the opening in the image.

Step S14, determining the distance between the camera and the hole.

In this embodiment, since the distance between the vehicle and the hole is different, the height of the hole in the image is also different. Therefore, after each image is taken, the distance between the camera and the hole is determined once, so as to improve the actual height of the hole obtained subsequently. high degree of accuracy.

Step S15, according to the height of the hole in the image, the distance between the camera and the hole and the parameters of the camera, calculate the actual height of the hole.

In this embodiment, the parameters of the camera include the focal length, etc., and the actual height of the hole refers to the actual height of the hole.

Step S16, if the actual height of the hole is lower than the height of the vehicle, remind the vehicle to stop passing.

Wherein, the vehicle-mounted terminal stores the height of the vehicle in advance. The vehicle-mounted terminal compares the calculated actual height of the hole with the height of the stored vehicle. If the actual height of the hole is higher than the height of the vehicle, it indicates that the vehicle can safely pass through the hole. At this time, no reminder is needed; otherwise, Indicates that the vehicle cannot pass through the hole. At this time, a reminder is issued to prevent the vehicle from being damaged due to the vehicle continuing to move forward.

In the embodiment of the present application, since it can be judged from the captured image whether there is a hole in front of the vehicle, and the actual height of the hole can be calculated, that is, even if there is no height limit sign at the hole, the actual height of the hole can be calculated , and then when the actual height of the hole is lower than the height of the vehicle, a reminder can be issued, so that the driver can control the vehicle in time to no longer move forward, thereby avoiding damage to the vehicle when passing through the hole forcibly.

In some embodiments, step S13 includes:

A1. If the opening is included, identify whether there is a limited height sign above the opening.

A2. If there is no height limit sign, then determine the height of the opening in the image.

In some embodiments, the vehicle passage reminder method provided in the embodiment of the present application further includes:

A3. If there is a limited height sign, compare the height indicated by the height limit sign with the height of the vehicle.

A4. If the height indicated by the height limit sign is lower than the height of the vehicle, the vehicle will be reminded to suspend traffic.

In the above A1-A4, the height of the hole in the image will be determined only when there is no height limit sign at the hole entrance, and the height information contained in the height limit sign is directly recognized when the hole has a limited height sign. Since it is faster to directly recognize the height information contained in the height limit sign, the actual height of the exit hole (that is, the height indicated by the height limit sign) can be determined faster through the above method, and then when the height of the vehicle is high, Reminders of vehicle suspensions are issued more quickly.

In some embodiments, before calculating the actual height of the opening in step S15, it includes:

According to the installation height of the camera on the vehicle, the pitch angle, the focal length of the camera, and the ordinate of the designated coordinate point, the distance between the camera and the hole is calculated, wherein the above-mentioned designated coordinate point is a coordinate point of the lower boundary of the hole.

In this embodiment, in order to improve the calculation accuracy, the above-mentioned specified coordinate point is the coordinate point corresponding to the straight line obtained when it is connected with the projection of the camera on the ground and the straight line corresponding to the lower boundary of the hole.

In some embodiments, the distance d between the camera and the hole can be calculated in the following manner:

Among them, h is the installation height of the camera lens on the vehicle, f is the focal length of the camera, θ is the pitch angle of the camera on the vehicle, and b is the ordinate of the specified coordinate point.

In some embodiments, the above step S15 includes:

Calculate the actual height of the hole according to the height of the hole in the image, the distance between the camera and the hole, the focal length of the camera, and the pitch angle of the camera on the vehicle.

In this embodiment, the actual height of the hole can be calculated according to the following method:

In this embodiment, since the pitch angle of the camera installed on the vehicle is considered, the accuracy of the calculated actual height of the hole is improved.

In some embodiments, the above step S12 includes:

Identify whether the image contains holes through the preset target detection model, and the network structure of the preset target detection model is related to the computing power of the vehicle terminal.

In this embodiment, the preset network structure of the target detection model includes: the number of convolutional layers, the number of convolutional channels, and the like. Since the network structure of the preset target detection model is related to the computing power of the vehicle-mounted terminal, it can be ensured that the network structure of the preset target detection model matches the computing power of the vehicle-mounted terminal, and the hole can be calculated in a more timely manner. in actual height.

In some embodiments, the backbone (backbone) of the network structure of the preset target detection model is composed of 5 stages (stage), considering that the resolution of the previous feature layer is relatively large, while the resolution of the latter feature layer is relatively large. It is relatively small, so the number of convolutional layers with 5 stages is gradually increased, and the number of channels is also gradually increased to enhance the performance of the network. In some embodiments, the five stages are respectively: the first stage (stage1), the second stage stage2, the third stage (stage3), the fourth stage (stage4) and the fifth stage (stage5). Among them, stage1 is three 3x3x16 convolutions, stage2 is three 3x3x32 convolutions, stage3 is four 3x3x64 convolutions, stage4 is five 3x3x128 convolutions, and stage5 is five 3x3x128 convolutions. Considering that the later convolutions in the network structure can extract more features, the corresponding feature maps can be output according to the subsequent convolutions, and the output prediction results indicate the size and position of the detection frame and the detection frame. credibility.

In some embodiments, considering that when the hole is closer to the vehicle, the image captured by the camera contains more features of the hole. At this time, the convolution in the front of the network structure can also extract more features. And compared with the convolution in the back of the network structure, the amount of calculation required is less. Therefore, different convolutions can be selected according to the distance between the hole and the vehicle, and the corresponding feature map can be output according to the selected convolution, and then the prediction can be obtained. detection frame. Assuming that the network structure of the preset target detection model is shown in Figure 3, when the distance between the hole and the vehicle is relatively close, select "4 Conv3*3*64" convolutions as the input of the Feature Pyramid Network (FPN) , to get the prediction result 1 output by the FPN. When the distance between the hole and the vehicle is far, select the second "5 Conv3*3*128" convolution as the input of FPN, and get the prediction result 3 output by the FPN. When the distance between the entrance and the vehicle is neither far nor close, the first "5 Conv3*3*128" convolutions are selected as the input of the FPN, and the prediction result 2 output by the FPN is obtained. Since the corresponding convolution is selected according to the distance between the hole and the vehicle, accurate prediction results can be obtained later on the basis of ensuring the calculation speed.

In some embodiments, the above step S13 includes:

B1. Identify the upper tangent and the lower boundary of the hole through a preset regression model, the number of channels of the preset regression model is smaller than the number of channels of the preset target detection model.

Wherein, the upper tangent here refers to a line that is tangent to the highest point of the hole and perpendicular to the ground.

In this embodiment, considering that the hole detected by the preset target detection model may include objects on the edge of the hole, that is, it may not be accurate to determine the height of the hole in the image directly according to the output result of the preset target detection model, so , the output result of the preset target detection model (that is, a detection frame) needs to be used as the input of the preset regression model, and the upper tangent and lower bound of the output of the preset regression model are obtained.

In this embodiment, since the input of the preset regression model is a detection frame, and the amount of calculation required to determine the upper tangent and lower bound of the hole from the detection frame is not large, therefore, the setting of the preset regression model The number of channels is less than the number of channels of the preset target detection model, which not only ensures the accurate determination of the upper tangent and lower bound of the hole from the detection frame, but also improves the speed of determining the upper tangent and lower bound of the hole.

In some embodiments, the network structure of the preset regression model is similar to the backbone of the network structure of the above preset target detection model, except that the number of convolutional channels is further trimmed. For example, the network structure of the preset regression model is shown in Figure 4. In Figure 4, the network structure of the preset regression model includes 5 stages, and finally two 3*3 convolutions are used to obtain the upper Output of tangents and lower bounds. Wherein, Fig. 5 and Fig. 6 show a schematic diagram of an upper tangent line and a lower bound of a hole.

B2. Determine the height of the hole in the image according to the upper tangent and the lower boundary of the hole.

In this embodiment, a coordinate point M in the upper tangent can be selected, and then a coordinate point N whose abscissa is the same as M can be selected in the straight line corresponding to the lower bound, and finally the difference between the coordinate point M and the vertical coordinate of the coordinate point N can be calculated , the obtained difference is the height of the hole in the image.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

Embodiment two:

Corresponding to the vehicle passage reminder method in the first embodiment above, FIG. 7 shows a structural block diagram of the vehicle passage reminder device provided by the embodiment of the present application. For the convenience of description, only the parts related to the embodiment of the present application are shown.

With reference to Fig. 7, this vehicle traffic reminding device 7 comprises: image acquisition module 71, hole recognition module 72, the height determination module 73 of hole in the image, the distance determination module 74 of camera and hole, the height determination module 75 of hole in practice , Reminder module 76. in:

The image acquisition module 71 is configured to acquire an image, which is obtained by capturing the scene in front of the vehicle by the camera.

The hole identification module 72 is configured to identify whether the image contains a hole.

The height determination module 73 of the hole in the image is configured to determine the height of the hole in the image if the hole is included.

The distance determination module 74 between the camera and the hole is used to determine the distance between the camera and the hole.

The actual height determination module 75 of the hole is used to calculate the actual height of the hole according to the height of the hole in the image, the distance between the camera and the hole, and the parameters of the camera.

The reminding module 76 is used for reminding the vehicle to suspend traffic if the actual height of the hole is lower than the height of the vehicle.

In some embodiments, the above-mentioned height determination module 73 of the hole in the image includes:

The height limit sign recognition unit is used to identify whether there is a limit height sign above the hole if the hole is included.

The infinite height sign processing unit is configured to determine the height of the hole in the image if there is no height limit sign.

In some embodiments, the vehicle passage reminding device 7 also includes:

The height comparison unit is configured to compare the height indicated by the height limit sign with the height of the vehicle if there is a height limit sign.

The vehicle height processing unit is configured to remind the above-mentioned vehicle to suspend traffic if the height indicated by the above-mentioned height limit sign is lower than the height of the above-mentioned vehicle.

In some embodiments, the above-mentioned distance determination module 74 between the camera and the hole is specifically used for:

According to the installation height of the above-mentioned camera on the above-mentioned vehicle, the pitch angle, the focal length of the above-mentioned camera and the ordinate of the specified coordinate point, calculate the distance between the above-mentioned camera and the above-mentioned hole, and the above-mentioned specified coordinate point is a coordinate point of the lower boundary of the above-mentioned hole.

In some embodiments, the actual height determination module 75 of the above hole is specifically used for:

The actual height of the hole is calculated according to the height of the hole in the image, the distance between the camera and the hole, the focal length of the camera, and the pitch angle of the camera in the vehicle.

In some embodiments, the above-mentioned opening identification module 72 is specifically used for:

Whether the image contains a hole is identified by a preset target detection model, and the network structure of the preset target detection model is related to the computing power of the vehicle-mounted terminal.

In some embodiments, the above-mentioned height determination module 73 of the hole in the image is specifically used for:

The upper tangent and the lower boundary of the hole are identified through a preset regression model, and the number of channels of the preset regression model is smaller than the number of channels of the preset target detection model. The height of the hole in the image is determined according to the upper tangent and the lower boundary of the hole.

It should be noted that the information interaction and execution process between the above-mentioned devices/units are based on the same concept as the method embodiment of the present application, and its specific functions and technical effects can be found in the method embodiment section. I won't repeat them here.

Embodiment three:

FIG. 8 is a schematic structural diagram of a vehicle-mounted terminal provided by an embodiment of the present application. As shown in Figure 8 , the vehicle-mounted terminal 8 of this embodiment includes: at least one processor 80 (only one processor is shown in Figure 8 ), memory 81 and stored in memory 81 and can run on at least one processor 80 A computer program 82, when the processor 80 executes the computer program 82, implements the steps in any of the above method embodiments.

The vehicle-mounted terminal 8 can be computing devices such as desktop computers, notebooks, palmtop computers, and cloud servers. The vehicle terminal may include, but not limited to, a processor 80 and a memory 81 . Those skilled in the art can understand that FIG. 8 is only an example of the vehicle-mounted terminal 8, and does not constitute a limitation to the vehicle-mounted terminal 8. It may include more or less components than those shown in the figure, or combine some components, or different components. , for example, may also include input and output devices, network access devices, and so on.

The so-called processor 80 can be a central processing unit (Central Processing Unit, CPU), and the processor 80 can also be other general processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit) , ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The storage 81 may be an internal storage unit of the vehicle terminal 8 in some embodiments, such as a hard disk or memory of the vehicle terminal 8 . Memory 81 also can be the external storage device of vehicle-mounted terminal 8 in other embodiments, such as the plug-in type hard disk equipped on vehicle-mounted terminal 8, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc. Further, the memory 81 may also include both an internal storage unit of the vehicle-mounted terminal 8 and an external storage device. The memory 81 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as program codes of computer programs. The memory 81 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

The embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and operable on the at least one processor, and the processor executes The computer program implements the steps in any of the above method embodiments.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be realized.

An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the foregoing method embodiments when executed.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the procedures in the methods of the above embodiments in the present application can be completed by instructing related hardware through computer programs, and the computer programs can be stored in a computer-readable storage medium. The computer program When executed by a processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program codes to the photographing device/terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium. Such as U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunication signals under legislation and patent practice.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed device/network device and method may be implemented in other ways. For example, the device/network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims

A vehicle passage reminding method is characterized in that it is applied to a vehicle-mounted terminal, including:

Acquiring an image, the image is obtained by taking pictures of the scene in front of the vehicle by the camera;

identifying whether an opening is contained in the image;

If a hole is included, then determine the height of the hole in the image;

determining the distance between the camera and the hole;

Calculate the actual height of the hole according to the height of the hole in the image, the distance between the camera and the hole, and the parameters of the camera;

If the actual height of the hole is lower than the height of the vehicle, the vehicle is reminded to stop passing.
The vehicle traffic reminder method according to claim 1, wherein if the hole is included, determining the height of the hole in the image includes:

If a hole is included, identify whether there is a limited height sign above the hole;

If there is no height limit sign, then determine the height of the hole in the image.
The vehicle passage reminding method according to claim 2, characterized in that, after identifying whether there is a limited-height sign above the opening, the method includes:

If there is a limited height sign, comparing the height indicated by the height limit sign with the height of the vehicle;

If the height indicated by the height limit sign is lower than the height of the vehicle, the vehicle is reminded to suspend traffic.
The vehicle passage reminder method according to claim 1, wherein the determining the distance between the camera and the hole comprises:

Calculate the distance between the camera and the hole according to the installation height of the camera on the vehicle, the pitch angle, the focal length of the camera, and the ordinate of a designated coordinate point, where the designated coordinate point is the lower limit of the hole a coordinate point of .
The vehicle passage reminder method according to claim 4, characterized in that, according to the height of the hole in the image, the distance between the camera and the hole and the parameters of the camera, the actual distance between the hole and the hole is calculated. heights, including:

The actual height of the hole is calculated according to the height of the hole in the image, the distance between the camera and the hole, the focal length of the camera, and the pitch angle of the camera in the vehicle.
The vehicle passage reminder method according to any one of claims 1 to 5, wherein the identifying whether a hole is included in the image comprises:

Whether the image contains a hole is identified by a preset target detection model, and the network structure of the preset target detection model is related to the computing power of the vehicle terminal.
The vehicle passage reminder method according to any one of claims 1 to 5, wherein if the hole is included, determining the height of the hole in the image includes:

identifying the upper tangent and the lower bound of the hole through a preset regression model, the number of channels of the preset regression model being smaller than the number of channels of the preset target detection model;

The height of the hole in the image is determined according to the upper tangent and the lower boundary of the hole.
A vehicle passage reminding device is characterized in that it is applied to a vehicle-mounted terminal, including:

An image acquisition module, configured to acquire an image, the image is obtained by taking pictures of the scene in front of the vehicle by the camera;

A hole identification module, configured to identify whether a hole is included in the image;

The height determination module of the hole in the image is used to determine the height of the hole in the image if the hole is included;

A distance determination module between the camera and the hole, configured to determine the distance between the camera and the hole;

The actual height determination module of the hole is used to calculate the actual height of the hole according to the height of the hole in the image, the distance between the camera and the hole and the parameters of the camera;

A reminder module, configured to remind the vehicle to stop passing if the actual height of the hole is lower than the height of the vehicle.
A vehicle-mounted terminal, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, characterized in that, when the processor executes the computer program, the computer program according to claims 1 to 1 is implemented. 7. The method described in any one.
A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 7 when executed by a processor.