Processing method and apparatus for vehicle scene sequence tracking, and vehicle
The embodiments of the present disclosure provide a processing method and apparatus for vehicle scene sequence tracking, and a vehicle. The method includes: obtaining a current vehicle speed of a vehicle driving in a first area and at least one frame of a current image taken; determining a vehicle speed ratio interval and a length of a sequence to be tracked according to the current vehicle speed; and performing the scene sequence tracking according to the vehicle speed ratio interval, the length of the sequence to be tracked, the at least one frame of the current image, and pre-stored multiple frames of historical reference images of the vehicle, to obtain position information of the vehicle. The method ensures that an accurate speed scanning range can still be quickly found when the vehicle speed changes greatly, and the speed scanning efficiency is greatly improved when the vehicle speed is relatively stable.
1. A processing method for vehicle scene sequence tracking, comprising:
obtaining a current vehicle speed of a vehicle driving in a first area and at least one frame of a current image taken;
determining, according to the current vehicle speed, a vehicle speed ratio interval and a length of a sequence to be tracked, wherein the length of a sequence to be tracked is used to identify a number of frames of images used when performing scene sequence tracking; and
performing the scene sequence tracking according to the vehicle speed ratio interval, the length of the sequence to be tracked, the at least one frame of the current image, and pre-stored multiple frames of historical reference images of the vehicle, to obtain position information of the vehicle in the first area;
wherein the determining, according to the current vehicle speed, a length of a sequence to be tracked comprises:
obtaining a historical vehicle speed of the vehicle at a time when each of the historical reference images is taken;
determining at least one length value according to the current vehicle speed and the historical vehicle speed; and
taking a maximum of the at least one length value as the length of the sequence to be tracked.
2. The method according to claim 1 , wherein the determining, according to the current vehicle speed, a vehicle speed ratio interval comprises:
obtaining a historical vehicle speed of the vehicle at a time when each of the historical reference images is taken, a time domain sampling rate corresponding to the current image, and a time domain sampling rate corresponding to the historical reference image, and determining a ratio of the current vehicle speed to the historical vehicle speed;
determining a scan width value according to the ratio of the current vehicle speed to the historical vehicle speed; and
determining, according to the ratio of the current vehicle speed to the historical vehicle speed, and the scan width value, the vehicle speed ratio interval.
3. The method according to claim 1 , wherein the performing the scene sequence tracking according to the vehicle speed ratio interval, the length of the sequence to be tracked, the at least one frame of the current image, and pre-stored multiple frames of historical reference images of the vehicle, to obtain position information of the vehicle in the first area comprises:
taking the vehicle speed ratio interval, the length of the sequence to be tracked, the at least one frame of the current image, and the pre-stored multiple frames of the historical reference images of the vehicle as input parameters of a scene sequence tracking algorithm, to obtain the position information of the vehicle in the first area output by the scene sequence tracking algorithm.
4. The method according to claim 1 , wherein the method further comprises:
adjusting a driving state of the vehicle according to the position information of the vehicle in the first area.
5. The method according to claim 1 , wherein the method further comprises:
outputting prompt information corresponding to the position information according to the position information of the vehicle in the first area.
6. A processing apparatus for vehicle scene sequence tracking, comprising:
a memory, configured to store program instructions;
a processor, configured to call and execute the program instructions in the memory to:
obtain a current vehicle speed of a vehicle driving in a first area and at least one frame of a current image taken;
determine, according to the current vehicle speed, a vehicle speed ratio interval and a length of a sequence to be tracked, wherein the length of the sequence to be tracked is used to identify a number of frames of images used when performing scene sequence tracking; and
perform the scene sequence tracking according to the vehicle speed ratio interval, the length of the sequence to be tracked, the at least one frame of the current image, and pre-stored multiple frames of historical reference images of the vehicle, to obtain position information of the vehicle in the first area;
wherein the processor calls and executes the program instructions in the memory further to:
obtain a historical vehicle speed of the vehicle at a time when the historical reference image is taken;
determine at least one length value according to the current vehicle speed and the historical vehicle speed; and
take a maximum of the at least one length value as the length of the sequence to be tracked.
7. The apparatus according to claim 6 , wherein the processor calls and executes the program instructions in the memory further to:
obtain a historical vehicle speed of the vehicle at a time when each of the historical reference images is taken, a time domain sampling rate corresponding to the current image, and a time domain sampling rate corresponding to the historical reference image, and determine a ratio of the current vehicle speed to the historical vehicle speed;
determine a scan width value according to the ratio of the current vehicle speed to the historical vehicle speed; and
determine, according to the ratio of the current vehicle speed to the historical vehicle speed, and the scan width value, the vehicle speed ratio interval.
8. The apparatus according to claim 6 , wherein the processor calls and executes the program instructions in the memory further to:
take the vehicle speed ratio interval, the length of the sequence to be tracked, the at least one frame of the current image, and the pre-stored multiple frames of the historical reference images of the vehicle as input parameters of a scene sequence tracking algorithm, to obtain the position information of the vehicle in the first area output by the scene sequence tracking algorithm.
9. The apparatus according to claim 6 , wherein the processor calls and executes the program instructions in the memory further to:
adjust a driving state of the vehicle according to the position information of the vehicle in the first area.
10. The apparatus according to claim 6 , wherein the processor calls and executes the program instructions in the memory further to:
output prompt information corresponding to the position information according to the position information of the vehicle in the first area.
11. A non-transitory readable storage medium having a computer program stored therein, wherein the computer program is used to perform the method of claim 1 .