The invention discloses a vehicle speed determination method and device and a computer readable storage medium, and aims to solve the problems that a matrix K in the process is prone to being ill-conditioned, so that the accuracy of solving coordinates of corresponding object points through image coordinates is reduced, and then the accuracy of the solved vehicle speed is reduced. The method comprises the following steps of: obtaining a video stream of a vehicle driving process; determining the interval time length between two adjacent frames of images in the video stream; determining the number of image frames used by a target point of the vehicle to pass through any two environment reference objects from the video stream; obtaining object point coordinates of the two environment reference objects according to the coordinate mapping matrix and the image point coordinates of the two environment reference objects, wherein the coordinate mapping matrix is obtained by converting an objectend point zooming coordinate and an image end point zooming coordinate corresponding to a certain object square area in the video stream, the object end point zooming coordinate is obtained by carrying out normalization zooming processing on the object end point coordinate of the object square area, and the image end point zooming coordinate is obtained by carrying out normalization zooming processing on the image end point coordinate of the object square area; determining the distance between the two environment reference objects according to the object point coordinates of the two environment reference objects; and determining the vehicle speed of the vehicle according to the interval time length, the image frame number and the distance.
本发明公开了一种车速确定方法、装置和计算机可读存储介质,以解决过程中的矩阵K易产生病态化,从而降低了通过图像坐标求出对应物点坐标的准确性,继而降低求出的车速的准确率的问题。方法部分包括:获取车辆行驶过程的视频流;确定视频流中相邻两帧图像之间的间隔时长;从视频流中确定车辆的目标点经过任意两个环境参照物所用的图像帧数;根据坐标映射矩阵和两个环境参照物的像点坐标获取两个环境参照物的物点坐标,坐标映射矩阵为通过视频流中某实物方形区域对应的物端点缩放坐标和像端点缩放坐标转换得到,物端点缩放坐标为对实物方形区域的实物端点坐标进行归一化缩放处理得到;像端点缩放坐标为对实物方形区域的图像端点坐标进行归一化缩放处理得到;根据两个环境参照物的物点坐标确定两个环境参照物之间的距离;根据间隔时长、图像帧数和距离确定车辆的车速。
Vehicle speed determination method and device and computer readable storage medium
车速确定方法、装置及计算机可读存储介质
2020-12-29
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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