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CN110310499A - A kind of method and device of ring road speed limit identification - Google Patents

A kind of method and device of ring road speed limit identification Download PDF

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Publication number
CN110310499A
CN110310499A CN201910404290.9A CN201910404290A CN110310499A CN 110310499 A CN110310499 A CN 110310499A CN 201910404290 A CN201910404290 A CN 201910404290A CN 110310499 A CN110310499 A CN 110310499A
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CN
China
Prior art keywords
vehicle
information
ring road
lane
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910404290.9A
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Chinese (zh)
Inventor
吴鹏
邹欣
朱科引
陈永春
李宝锋
张英瀚
曹润滋
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Freitak Intelligent Systems Co Ltd
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Freitak Intelligent Systems Co Ltd
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Application filed by Freitak Intelligent Systems Co Ltd filed Critical Freitak Intelligent Systems Co Ltd
Priority to CN201910404290.9A priority Critical patent/CN110310499A/en
Publication of CN110310499A publication Critical patent/CN110310499A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a kind of ring road speed limits to know method for distinguishing, comprising: obtains the speed(-)limit sign information identified from the road image of acquisition；Judge whether speed-limiting messages are ring road speed-limiting messages according to speed-limiting messages；If so, obtaining the lane information of vehicle, the route planning information of vehicle, the signal information of vehicle and the environmental information of vehicle；According to lane information, route planning information, signal information and environmental information, judge whether vehicle enters entrance ramp readiness；If it is determined that vehicle enters entrance ramp readiness, then according to ring road speed-limiting messages, the speed limit numerical value of vehicle is determined and prompts.Method and apparatus provided by the invention can be improved the correct recognition rata of ring road speed limit identifying schemes, reduces to exist and fails to report and report risk by mistake, improves the driving experience of driver.When vehicle after entering ring road when exceeding the speed limit, car speed can be limited in ring road speed limit hereinafter, improving the driving safety coefficient of vehicle by the present invention.

Description

A kind of method and device of ring road speed limit identification
Technical field
The present invention relates to ring road speed limits to identify field, in particular to a kind of ring road speed limit knows method for distinguishing.
Background technique
As advanced driving assistance system (Advanced Driving Assistant System, ADAS) is on vehicle Carrying application, subfunction intelligent transportation sign recognition system (Traffic Sign Recogni-tion, TSR) also steps into The visual field of people.Having in national standard and the safe criticism association of European new car has relevant technical requirements, TSR system to TSR system System has been industry common recognition from basic function to intelligentized deep optimization.Ring road of the TSR system of mainstream in super expressway at present The performance of mouth is not fully up to expectations, no matter whether vehicle enters ring road, no matter speed limit identifies whether it is just for entrance ring road Speed limit, as long as speed(-)limit sign is detected and recognizes, TSR system will show speed limit in instrument.Wherein have one it is urgently excellent The typical form example of change is exactly, and when driver keeps the speed smooth-ride of 100km/h on a highway, passes by high speed ring road and goes out When mouth, instrument can report the speed limit of 40km/h or even issue overspeed warning.
In existing technical solution, cardinal principle be by the lateral distance of speed limitation board, road type, vehicle speed, Turn signal and brake pedal information speculate whether to show the speed(-)limit sign recognized, reduce above-mentioned field to a certain extent The generation reported by mistake but be not avoided that wrong report in scape.
To sum up, in existing Expressway Entrance Ramp determination strategy, road type is issued by navigation detection system, and mesh Preceding navigation detection system can not also provide judgment basis accurately and timely, lead to navigate at present detection system and camera detection The Expressway Entrance Ramp speed limit identifying schemes correct recognition rata of system data fusion is not high, exists and fails to report and wrong report risk, influence The driving experience of driver, and when alarm set failure, in the state of overspeed of vehicle, there are security risks, therefore, how A kind of technical solution of ring road speed limit identification is provided, reduction after vehicle enters ring road can be reduced and fail to report and report by mistake, and failed to report Occur to be after a certain period of time vehicle deceleration with wrong report, ensures the traffic safety of driver, be those skilled in the art's urgent need to resolve The problem of.
Summary of the invention
The purpose of the present invention is to provide a kind of method and devices of ring road speed limit identification, are issued with reducing to navigation equipment Road type requirement of real-time, improve ring road speed limit identifying schemes correct recognition rata, reduce exist fails to report with wrong report risk, When simultaneously after vehicle enters ring road in hypervelocity, vehicle deceleration is controlled to ring road speed limit numerical value hereinafter, driver can be improved Driving experience and traffic safety.
The specific technical solution of the present invention is as follows:
The present invention provides a kind of ring road speed limit knowledge method for distinguishing, comprising: obtains the limit identified from the road image of acquisition Fast flag information, wherein speed(-)limit sign information includes: speed limit numerical value and auxiliary information；Judge that speed limit is believed according to the speed-limiting messages Whether breath is ring road speed-limiting messages；If so, obtaining the signal of the lane information of vehicle, the route planning information of vehicle, vehicle The environmental information of lamp information and vehicle, wherein the environmental information is for judging whether vehicle passes through right-hand lane line；According to institute Lane information, the route planning information, the signal information and the environmental information are stated, judges whether vehicle enters and drives into Ring road readiness；If it is determined that vehicle enters entrance ramp readiness, then according to the ring road speed-limiting messages, determines and prompt The speed limit numerical value of vehicle.
Further, after the determining speed limit numerical value, the method also includes: obtain the velocity information of vehicle；Compare The height of the velocity information of the vehicle and the speed limit numerical value；If the velocity information of the vehicle is higher than the speed limit numerical value, Then control vehicle deceleration to pre-set velocity threshold value or less, wherein the pre-set velocity threshold value be equal to the speed limit numerical value+n, 10 >= n≥-5。
Further, the lane information for obtaining vehicle, comprising: obtain left and right vehicle wheel two sides barriers to vehicle away from From information and/or lane line information；The lane information of vehicle is determined according to the range information and/or the lane line information, The lane information includes: rightmost side lane or secondary right-hand lane or other lanes.
Further, the process that the judgement vehicle enters entrance ramp readiness includes: when the path planning is believed Include ring road corresponding with the ring road speed-limiting messages in breath, then determines that vehicle enters entrance ramp readiness；Or, when described Lane information be rightmost side lane, and the rightmost side lane lead directly to ring road corresponding with the ring road speed-limiting messages when, then Determine that vehicle enters entrance ramp readiness.
Further, the process for judging vehicle and whether entering entrance ramp readiness further include: work as lane information For rightmost side lane, when the rightmost side lane cannot lead directly to ring road corresponding with the ring road speed-limiting messages, and vehicle Signal information is that open state or vehicle pass through right-hand lane line, then determines that vehicle enters entrance ramp readiness；Wherein Signal information includes: right turn lamp open state or closed state.
Further, the process for judging vehicle and whether entering entrance ramp readiness further include: work as lane information For secondary right-hand lane, when the rightmost side lane can lead directly to ring road corresponding with the ring road speed-limiting messages, and the signal Lamp information is that open state or vehicle pass through right-hand lane line, it is determined that vehicle enters entrance ramp readiness.
On the other hand, the present invention also provides a kind of devices of ring road speed limit identification, comprising: speed(-)limit sign acquisition of information mould Block, for obtaining the speed(-)limit sign information identified from the road image of acquisition, wherein speed(-)limit sign information includes: speed limit numerical value And auxiliary information；Ring road speed-limiting messages judgment module, for judging whether speed-limiting messages are ring road limit according to the speed-limiting messages Fast information；Ring road readiness data obtaining module, for obtaining the lane information of vehicle, the route planning information of vehicle, vehicle Signal information and vehicle environmental information, wherein the environmental information is for judging whether vehicle passes through right-hand lane Line；Ring road readiness judgment module, for according to the lane information, the route planning information, the signal information With the environmental information, judge whether vehicle enters entrance ramp readiness；Cue module is determined, for according to the ring road Speed-limiting messages determine and prompt the speed limit numerical value of vehicle.
Further, described device further include: velocity information obtains module, in the determination and prompting having for vehicle After imitating speed limit, the velocity information of vehicle is obtained；Speed comparison module, velocity information and the speed limit for the vehicle The height of numerical value；Deceleration control module then controls vehicle when being higher than the speed limit numerical value for the velocity information in the vehicle It is decelerated to pre-set velocity threshold value or less, wherein the pre-set velocity threshold value is equal to speed limit the numerical value+n, 10 >=n >=-5.
Further, it includes: that lane information obtains that the ring road readiness data obtaining module, which obtains the lane information, Unit is taken, for obtaining the range information and/or lane line information of left and right vehicle wheel two sides barrier to vehicle；Lane information determines Unit, for determining the lane information of vehicle, the lane information packet according to the range information and/or the lane line information It includes: rightmost side lane or secondary right-hand lane or other lanes.
Further, the ring road readiness judgment module is specifically used for: when in the route planning information comprising with The corresponding ring road of the ring road speed-limiting messages then determines that vehicle enters entrance ramp readiness；Or, when the lane information is Rightmost side lane, and the rightmost side lane lead directly to ring road when, then determine vehicle enter entrance ramp readiness.
Further, the ring road readiness judgment module is also used to: when lane information be rightmost side lane, it is described most When right-hand lane cannot lead directly to ring road, and the signal information of vehicle is that open state or vehicle pass through right-hand lane line, then Determine that vehicle enters entrance ramp readiness；Wherein signal information includes: right turn lamp open state or closed state.
Further, the ring road readiness judgment module is also used to: when lane information is time right-hand lane, it is described most Right-hand lane can lead directly to ring road, and the signal information is that open state or vehicle pass through right-hand lane line, it is determined that vehicle Enter entrance ramp readiness.
In another aspect, the present invention provides a kind of computer readable storage medium, deposited on the computer readable storage medium Computer program is contained, the computer program realizes ring road speed limit recognition methods as described above when being executed by processor Step.
In another aspect, the present invention provides a kind of electronic equipment of ring road speed limit identification, comprising: memory, based on storing Calculation machine program；Processor realizes the step of ring road speed limit recognition methods as described above when for executing the computer program Suddenly.
In another aspect, the present invention provides a kind of vehicle, the vehicle, which is provided with ring road speed limit described in any of the above embodiments, to be known Other device.
By adopting the above technical scheme, a kind of method, apparatus of ring road speed limit identification of the present invention has following beneficial Effect:
The present invention uses the integration technology of camera detection system and navigate detection system and distance measurement system, according to vehicle The signal information of road information, route planning information and vehicle judges whether vehicle enters entrance ramp readiness, in conjunction with circle Road speed-limiting messages are with the effective speed limit of determination, without the speed limit Filling power based on road type, reduce and send out navigation equipment Road type requirement of real-time out improves the correct recognition rata of ring road speed limit identifying schemes, reduces to exist and fails to report and report by mistake Risk improves the driving experience of driver.When vehicle after entering ring road when exceeding the speed limit, car speed can be limited in by the present invention Ring road speed limit is hereinafter, improve the driving safety coefficient of vehicle.
Detailed description of the invention
It, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical solution of the present invention The attached drawing used is briefly described.It should be evident that drawings in the following description are only some embodiments of the invention, it is right For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings Its attached drawing.
The flow chart of Fig. 1 ring road speed limit recognition methods provided in an embodiment of the present invention；
The flow chart of Fig. 2 another ring road speed limit value reminding method provided in an embodiment of the present invention；
Whether Fig. 3 vehicle provided in an embodiment of the present invention enters the flow chart of entrance ramp readiness；
A kind of Fig. 4 vehicle provided in an embodiment of the present invention enters the flow chart of entrance ramp readiness；
Fig. 5 another vehicle provided in an embodiment of the present invention enters the flow chart of entrance ramp readiness；
Fig. 6 another vehicle provided in an embodiment of the present invention enters the flow chart of entrance ramp readiness；
The structure flow chart of Fig. 7 ring road speed limit identifying system provided in an embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram of ring road speed limit identification device of the present invention；
Fig. 9 is the structural schematic diagram of electronic equipment of the present invention；
In figure: 1- ring road speed-limiting messages obtain module, 2- ring road readiness data obtaining module, 3- ring road readiness Judgment module, 4- determine cue module, 5- deceleration control module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its His embodiment, shall fall within the protection scope of the present invention.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, " Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover Covering non-exclusive includes to be not necessarily limited to for example, containing the process, method of a series of steps or units, device, product or equipment Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product Or other step or units that equipment is intrinsic.
The flow chart of Fig. 1 ring road speed limit recognition methods provided in an embodiment of the present invention；As shown in Figure 1, the present invention provides one Kind ring road speed limit knows method for distinguishing, and the executing subject of this programme is ADAS controller, comprising:
Step S102, the speed(-)limit sign information identified from the road image of acquisition is obtained, wherein speed(-)limit sign packet It includes: speed limit numerical value and auxiliary information；
Specifically, the acquisition of road image can be completed by the first picture pick-up device, the first picture pick-up device be may be mounted at On vehicle, the first picture pick-up device can acquire the road image on the road of traveling in real time, carry out corresponding position to the road image Speed(-)limit sign part and the limit of acute saturating circular boundary are extracted in reason, such as reinforcing, denoising and deep learning processing from the road image The speed(-)limit sign information to identify speed(-)limit sign information, and is sent to ADAS control by the word segment below fast character portion Device processed.ADAS controller determines whether the speed(-)limit sign information is ring road speed-limiting messages after receiving speed(-)limit sign information, And it can determine the corresponding camera shooting speed limit value of speed(-)limit sign information.Wherein speed(-)limit sign information may include: speed limit numerical value and auxiliary Supplementary information, auxiliary information can be arrow or text information, and text information can be used for judging whether speed(-)limit sign information is circle Road speed-limiting messages, referring to Fig. 4, a kind of Fig. 4 vehicle provided in an embodiment of the present invention enters the process of entrance ramp readiness Figure.
Step S104, judge whether speed-limiting messages are ring road speed-limiting messages according to the speed-limiting messages；
Specifically, ADAS controller can judge speed(-)limit sign according to the speed(-)limit sign information identified in acquisition road image Whether information is ring road speed-limiting messages.
Step S106, if so, obtaining the signal lamp letter of the lane information of vehicle, the route planning information of vehicle, vehicle The environmental information of breath and vehicle, wherein the environmental information is for judging whether vehicle passes through right-hand lane line；
Specifically, vehicle driving lane information can determine that distance is visited by the object detecting apparatus installed on vehicle Measurement equipment can be with the range information of real-time detection left and right vehicle wheel two sides static-obstacle thing to vehicle, and determines vehicle according to range information Place lane, wherein static-obstacle thing can be clump etc..
Such as: vehicle driving in super expressway or city expressway, visit by the object detecting apparatus for being mounted on vehicle left side Measuring vehicle to left side static-obstacle thing distance is 1m, and the object detecting apparatus for being mounted on vehicle right side detects vehicle to left side It is 12m that static-obstacle thing distance, which is 1m vehicle to right side static-obstacle thing distance, then determines vehicle driving in leftmost side lane.
The route planning information of vehicle can be external by the navigation equipment being mounted on the vehicle or the vehicle Electric terminal with navigation feature determines that the navigation equipment or electric terminal can position vehicle in real time, and can be with The route planning information of vehicle is provided, certain route planning information may include the cartographic information of vehicle region, map letter When whether road where breath is determined for vehicle driving can lead directly to ring road corresponding with the ring road speed-limiting messages, and really Road type where determining vehicle.The signal information of vehicle can be by electronic control unit (Electronic Control Unit, ECU) it determines.
Second picture pick-up device of the environmental information vehicle installation of vehicle determines, wherein the environmental information is for judging vehicle Whether right-hand lane line is passed through.Such as: vehicle right side has a lane line when the first picture pick-up device identification ring road speed-limiting messages, in advance If the road image that the second picture pick-up device acquires after first time shows that vehicle right side does not have lane line, it follows that can be true Vehicle is determined across right-hand lane line.Or first picture pick-up device acquisition road image in vehicle be in rightmost side lane, it is default Vehicle is in above the lane line of the rightmost side in the road image that the second picture pick-up device acquires after second time, it is determined that vehicle passes through Right-hand lane line.Or second picture pick-up device recognize vehicle and the relative position of lane line changes, vehicle is relative to vehicle Diatom moves right, and when its central point (headstock, rear axle or other indexs) crosses former right-hand lane line, can determine vehicle Across right-hand lane line.Wherein the first picture pick-up device and the second picture pick-up device can be identical, be also possible to it is different, specifically Embodiment is not specifically limited in the present specification.
Step S108, believed according to the lane information, the route planning information, the signal information and the environment Breath, judges whether vehicle enters entrance ramp readiness；
It can lane information according to vehicle, the road specifically, judging whether vehicle enters entrance ramp readiness The signal information of diameter planning information and vehicle determines.
Step S110, it if it is determined that vehicle enters entrance ramp readiness, then according to the ring road speed-limiting messages, determines simultaneously Prompt the speed limit numerical value of vehicle.
Specifically, can be determined according to ring road speed-limiting messages after judging that vehicle enters entrance ramp readiness And prompt the speed limit numerical value of vehicle.The mode that wherein above-mentioned effective speed limit is prompted include: voice prompting, picture and text prompt and At least one of vibration prompt, specific prompting mode are not construed as limiting in this specification embodiment.
In technical solution provided in an embodiment of the present invention, using camera detection system and navigation detection system and distance The integration technology of detection system, according to the signal information of lane information, route planning information and vehicle judge vehicle whether into Enter entrance ramp readiness, in conjunction with ring road speed-limiting messages with the effective speed limit of determination, reduces the road issued to navigation equipment Type requirement of real-time improves the correct recognition rata of ring road speed limit identifying schemes, reduces to exist and fail to report and wrong report risk, improvement The driving experience of driver.
In other possible embodiments, specifically ring road speed limit, which knows method for distinguishing, can be divided into four kinds of modes, divide below It is other that these four modes are introduced.
The first, the flow chart of Fig. 2 another ring road speed limit value reminding method provided in an embodiment of the present invention；Such as Fig. 2 institute Show, which includes:
Step S112, the speed(-)limit sign information that picture pick-up device is identified from the road image of acquisition is obtained, and described in judgement Whether speed(-)limit sign information is ring road speed-limiting messages, and determines the corresponding camera shooting speed limit value of the speed(-)limit sign information；
If above-mentioned speed(-)limit sign information be ring road speed-limiting messages, then follow the steps S114, obtain vehicle lane information, The route planning information of vehicle and the signal information of vehicle；
Step S116, the road type of the vehicle, the road class are judged according to the route planning information of the vehicle Type includes: super expressway or city expressway, other roads；
If step S118, the described road type is super expressway or city expressway, according to the lane information of vehicle, described Route planning information and the signal information, judge whether vehicle enters entrance ramp readiness；
Step S120, it if it is determined that vehicle is in entrance ramp readiness, then according to the ring road speed-limiting messages, determines simultaneously Prompt the speed limit numerical value of vehicle.
It second, if above-mentioned speed-limiting messages are not ring road speed-limiting messages, then follow the steps S122, believed according to speed(-)limit sign Breath determines and prompts the speed limit numerical value without ring road information of vehicle.
The third, if above-mentioned speed-limiting messages are ring road speed-limiting messages, and carriageway type where vehicle is other roads, It thens follow the steps S126, prompt the speed limit numerical value containing ring road speed-limiting messages.
4th kind, if above-mentioned speed-limiting messages are ring road speed-limiting messages, carriageway type where vehicle is super expressway or city City's through street, and vehicle does not enter entrance ramp readiness, thens follow the steps S126, does not prompt to believe containing ring road speed limit The speed limit numerical value of breath.
On the basis of the above embodiments, it in this specification one embodiment, after the determining speed limit numerical value, also wraps It includes:
Step S202, the velocity information of vehicle is obtained；
Specifically, ADAS controller can receive the velocity information i.e. travel speed of current vehicle of vehicle, velocity information There can be speed detection equipment offer, certain speed detection equipment can be electrically connected with ADAS controller.
Step S204, the height of the velocity information of vehicle described in comparison and the speed limit numerical value；
Specifically, ADAS controller can be compared according to the velocity information received with the speed limit received numerical value, And judge the height of velocity information Yu speed limit numerical value.
If the velocity information of step S206, the described vehicle is higher than the speed limit numerical value, then vehicle deceleration is controlled to default speed Spend threshold value or less, wherein the pre-set velocity threshold value is equal to speed limit the numerical value+n, 10 >=n >=-5.
Specifically, ADAS controller can pass through control engine or vehicle when velocity information is higher than ring road speed-limiting messages Brake system control vehicle deceleration is to pre-set velocity threshold value hereinafter, pre-set velocity threshold value can be equal to speed limit numerical value+n, 10 >=n >=-5, wherein the numerical value of n can be configured according to actual needs, be not specifically limited in this specification embodiment, such as: Ring road speed limit numerical value is 40km/h, and after vehicle enters ring road, ADAS controller can pass through control engine or vehicle brake System controls vehicle deceleration to 45km/h, at this time n=5；When velocity information is lower than ring road speed-limiting messages, maintenance current vehicle speed is ADAS controller does not make the movement of control engine or brake and drive system for vehicle with tow.
In technical solution provided in an embodiment of the present invention, can be by control engine or brake when overspeed of vehicle System slows down to vehicle, avoids vehicle excessive velocities when passing through ring road, causes the generation of the dangerous travel situations of vehicle, into And improve the driving experience of driver and the driving safety of vehicle.
On the basis of the above embodiments, in this specification one embodiment, the determination method packet of the lane information of vehicle It includes:
Step S302, the range information and/or lane line information of left and right vehicle wheel two sides barrier to vehicle are obtained；
Specifically, object detecting apparatus has can be set in vehicle, for real-time detection left and right vehicle wheel two sides barrier to vehicle Range information and/or lane line information and be sent to ADAS controller, object detecting apparatus is in this specification embodiment It is not specifically limited, preferably can be infrored equipment or radar equipment, and the range information of detection is sent to ADAS control Device processed, wherein barrier includes the road edges such as railings for rail/road crossing traffic, road shoulder, lane line information can by the first picture pick-up device and or Second picture pick-up device obtains, and is identified by ADAS controller.
Step S304, the lane information of vehicle, the vehicle are determined according to the range information and/or the lane line information Road information includes: rightmost side lane or secondary right-hand lane or other lanes.
Specifically, ADAS controller can determine vehicle according to the range information and/or the lane line information received Lane information, lane information can be rightmost side lane or secondary right-hand lane or other lanes,
Such as ADAS controller detects that vehicle right side does not have lane line, then it is assumed that vehicle driving is in rightmost side lane； ADAS controller detects that the distance of vehicle right side barrier is less than 1m, then it is assumed that vehicle driving is in rightmost side lane.
In technical solution provided in an embodiment of the present invention, vehicle place can accurately be determined by object detecting apparatus Lane information, avoid in previous scheme with navigation equipment determine lane information inaccuracy or navigation equipment failure and other reasons And the problem of cannot identifying the lane information of vehicle.
On the basis of the above embodiments, in this specification one embodiment, Fig. 3 vehicle provided in an embodiment of the present invention is The no flow chart into entrance ramp readiness；As shown in figure 3, the judgement vehicle enters the mistake of entrance ramp readiness Journey includes:
If in the route planning information including ring road corresponding with the ring road speed-limiting messages, then determines that vehicle enters and sail Enter ring road readiness.
Specifically, vehicle then can be confirmed when including ring road corresponding with the ring road speed-limiting messages in route planning information Enter entrance ramp readiness.Route planning information can be to be provided by vehicle setting navigation equipment, is also possible to be arranged There is the external terminal of navigation feature to provide, external terminal can be the portable devices such as mobile phone.
In technical solution provided in an embodiment of the present invention, when including ring road in route planning information, then vehicle can be confirmed Enter entrance ramp readiness, then can be believed according to ring road speed limit that picture pick-up device is identified from the road image of acquisition Breath, determines speed limit numerical value and prompts effective speed limit of vehicle, improve the correct recognition rata of ring road speed limit identifying schemes, reduction is deposited It is failing to report and is reporting risk by mistake, improving the driving experience of driver.
On the basis of the above embodiments, in this specification one embodiment, Fig. 3 vehicle provided in an embodiment of the present invention is The no flow chart into entrance ramp readiness；A kind of Fig. 4 vehicle provided in an embodiment of the present invention enters entrance ramp preparation The flow chart of state；As shown in Figures 3 and 4, when the lane information is rightmost side lane, and the rightmost side lane it is straight-through with When the corresponding ring road of the ring road speed-limiting messages, then determine that vehicle enters entrance ramp readiness.
Specifically, the lane where ADAS controller determines vehicle according to the range information received is rightmost side lane, And when the route planning information that ADAS controller receives determines that rightmost side lane can lead directly to ring road, then vehicle enters and drives into Ring road readiness.
In technical solution provided in an embodiment of the present invention, ADAS controller can be according to the range information and road received Diameter planning information can determine that vehicle enters entrance ramp readiness, then can be according to picture pick-up device from the road image of acquisition The ring road speed-limiting messages of middle identification determine speed limit numerical value and prompt effective speed limit of vehicle.Improve ring road speed limit identifying schemes Correct recognition rata, reduce exist fails to report with wrong report risk, improve the driving experience of driver.
On the basis of the above embodiments, in this specification one embodiment, Fig. 3 vehicle provided in an embodiment of the present invention is The no flow chart into entrance ramp readiness；It is pre- that Fig. 6 another vehicle provided in an embodiment of the present invention enters entrance ramp The flow chart of standby state；As shown in figs. 3 and 6, the process for judging vehicle and whether entering entrance ramp readiness further include:
When lane information is rightmost side lane, the rightmost side lane cannot lead directly to corresponding with the ring road speed-limiting messages When ring road, and the signal information of vehicle is that open state or vehicle pass through right-hand lane line, then determines that vehicle enters and drive into Ring road readiness；Wherein signal information includes: right turn lamp open state or closed state.
Specifically, the lane where ADAS controller determines vehicle according to the range information received is rightmost side lane When, but the current vehicle place lane that route planning information provides cannot lead directly to ring road corresponding with the ring road speed-limiting messages When, the signal information for the vehicle that ADAS controller obtains is open state, then ADAS controller can be confirmed that vehicle enters and sail Enter ring road readiness.
Specifically, whether Fig. 3 vehicle provided in an embodiment of the present invention enters the flow chart of entrance ramp readiness；Fig. 6 Another vehicle provided in an embodiment of the present invention enters the flow chart of entrance ramp readiness；As shown in figs. 3 and 6, work as ADAS When lane is rightmost side lane where controller determines vehicle according to the range information received, but route planning information offer When lane where current vehicle cannot lead directly to ring road, the right turn lamp for the vehicle that ADAS controller obtains is in off state, ADAS controller then needs to obtain the environmental information of vehicle, and judges that vehicle whether there is across right-hand lane according to environmental information Line, if vehicle passes through right-hand lane line, ADAS controller can be confirmed that vehicle enters entrance ramp readiness.
In technical solution provided in an embodiment of the present invention, ADAS controller can be according to range information, the vehicle received Signal information and the environmental information of vehicle can determine that vehicle enters entrance ramp readiness, then can be according to camera shooting The ring road speed-limiting messages that equipment is identified from the road image of acquisition determine speed limit numerical value and prompt effective speed limit of vehicle.It mentions The high correct recognition rata of ring road speed limit identifying schemes, reduce exist fails to report with wrong report risk, improve the driving experience of driver.
On the basis of the above embodiments, in this specification one embodiment, Fig. 3 vehicle provided in an embodiment of the present invention is The no flow chart into entrance ramp readiness；It is pre- that Fig. 5 another vehicle provided in an embodiment of the present invention enters entrance ramp The flow chart of standby state；As shown in Figures 3 and 5, the process for judging vehicle and whether entering entrance ramp readiness further include:
When lane information is time right-hand lane, the rightmost side lane can lead directly to circle corresponding with the ring road speed-limiting messages When road, and the signal information is that open state or vehicle pass through right-hand lane line, it is determined that vehicle enters entrance ramp Readiness.
Specifically, the lane where ADAS controller determines vehicle according to the range information received is time right-hand lane When, when lane where the current vehicle that route planning information provides can lead directly to ring road, the right side for the vehicle that ADAS controller obtains Turn signal is open state, and ADAS controller then can be confirmed that vehicle enters entrance ramp readiness.
Specifically, the lane where ADAS controller determines vehicle according to the range information received is time right-hand lane When, when lane where the current vehicle that route planning information provides can lead directly to ring road, the right side for the vehicle that ADAS controller obtains Turn signal is in off state, and ADAS controller then needs to obtain the environmental information of vehicle, and judges that vehicle is according to environmental information No to exist across right-hand lane line, if vehicle passes through right-hand lane line, ADAS controller can be confirmed that vehicle enters and drive into circle Road readiness.
In technical solution provided in an embodiment of the present invention, ADAS controller can according to receive range information, road Diameter planning information, signal information and environmental information can determine that vehicle enters entrance ramp readiness, then can be according to taking the photograph As the ring road speed-limiting messages that equipment is identified from the road image of acquisition, determines speed limit numerical value and prompt effective speed limit of vehicle. The correct recognition rata of ring road speed limit identifying schemes is improved, reduces to exist and fails to report and report risk by mistake, improve the driving body of driver It tests.
On the other hand, Fig. 8 is a kind of structural schematic diagram of ring road speed limit identification device of the present invention；As shown in figure 8, The present invention also provides a kind of devices of ring road speed limit identification, comprising:
Ring road speed-limiting messages obtain module 1, for obtaining the speed(-)limit sign information identified from the road image of acquisition, Middle speed(-)limit sign information includes: speed limit numerical value and auxiliary information；
Ring road speed-limiting messages judgment module 1-1, for judging whether speed-limiting messages are ring road limit according to the speed-limiting messages Fast information；
Ring road readiness data obtaining module 2, for obtain the lane information of vehicle, the route planning information of vehicle, The signal information of vehicle and the environmental information of vehicle, wherein the environmental information is for judging whether vehicle passes through right-hand lane Line；
Ring road readiness judgment module 3, for according to the lane information, the route planning information, the signal Lamp information and the environmental information, judge whether vehicle enters entrance ramp readiness；
Cue module 4 is determined, for determining and prompting the speed limit numerical value of vehicle according to the ring road speed-limiting messages.
Specifically, the acquisition of road image can be completed by the first picture pick-up device, the first picture pick-up device be may be mounted at On vehicle, the first picture pick-up device can acquire the road image on the road of traveling in real time, carry out corresponding position to the road image Speed(-)limit sign part and the limit of acute saturating circular boundary are extracted in reason, such as reinforcing, denoising and deep learning processing from the road image Word segment below fast character portion, to identify speed(-)limit sign information, and it is pre- that the speed(-)limit sign information is sent to ring road Standby state information acquisition module 3 is ADAS controller.ADAS controller determines the speed limit after receiving speed(-)limit sign information Whether flag information is ring road speed-limiting messages, and can determine the corresponding speed limit numerical value of speed(-)limit sign information.Wherein speed(-)limit sign Information may include: speed limit numerical value and auxiliary information, and auxiliary information can be arrow or text information, and text information can be used for Judge whether speed(-)limit sign information is ring road speed-limiting messages, referring to Fig. 4, a kind of Fig. 4 vehicle provided in an embodiment of the present invention into Enter the flow chart of entrance ramp readiness.
Specifically, ring road readiness data obtaining module 2 may include distance measurement unit, lane information can then lead to Cross and determined in distance measurement unit, distance measurement unit can with real-time detection left and right vehicle wheel two sides static-obstacle thing to vehicle away from From information, and determine according to range information the place lane of vehicle, wherein static-obstacle thing can be clump etc..
Such as: vehicle driving in super expressway or city expressway, visit by the distance measurement unit for being mounted on vehicle left side Measuring vehicle to left side static-obstacle thing distance is 1m, and the distance measurement unit for being mounted on vehicle right side detects vehicle to left side It is 12m that static-obstacle thing distance, which is 1m vehicle to right side static-obstacle thing distance, then determines vehicle driving in leftmost side lane.
Ring road readiness data obtaining module 2 can also include navigation elements, and the route planning information of vehicle then can be with It is determined by the external electric terminal for being provided with navigation elements of the navigation elements being mounted on the vehicle or the vehicle, it should Navigation elements or electric terminal can position vehicle in real time, and can provide the route planning information of vehicle, certain road Diameter planning information may include the cartographic information of vehicle region, and cartographic information is determined for road where vehicle driving When whether can lead directly to ring road corresponding with the ring road speed-limiting messages, and determine road type where vehicle.The signal of vehicle Lamp information can be determined by electronic control unit (Electronic Control Unit, ECU).
Ring road readiness data obtaining module can also receive the environmental information of vehicle, the environmental information vehicle peace of vehicle Second picture pick-up device of dress determines, wherein the environmental information is for judging whether vehicle passes through right-hand lane line.Such as: wherein The environmental information is for judging whether vehicle passes through right-hand lane line.Such as: the first picture pick-up device identifies ring road speed-limiting messages When vehicle right side have a lane line, the road image that the second picture pick-up device acquires after default first time shows that vehicle right side does not have There is lane line, it follows that can determine that vehicle passes through right-hand lane line.Or vehicle in the road image of picture pick-up device acquisition In rightmost side lane, vehicle is on the lane line of the rightmost side in the road image that picture pick-up device acquires after default second time Side, it is determined that vehicle passes through right-hand lane line.Or second picture pick-up device recognize the relative position of vehicle and lane line and occur Variation, vehicle moves right relative to lane line, when its central point (headstock, rear axle or other indexs) crosses former right-hand lane When line, it can determine that vehicle passes through right-hand lane line.Wherein the first picture pick-up device and the second picture pick-up device can be identical, It can be different, specific embodiment is not specifically limited in the present specification.
Specifically, being determined after ring road readiness judgment module 3 judges that vehicle enters entrance ramp readiness Cue module 4 can obtain the ring road speed-limiting messages determination that module 2 obtains and the speed limit for prompting vehicle according to ring road speed-limiting messages Numerical value.The mode that wherein above-mentioned effective speed limit is prompted include: voice prompting, picture and text prompt and vibration prompt at least One kind, specific prompting mode are not construed as limiting in this specification embodiment.
In technical solution provided in an embodiment of the present invention, using camera shooting detection system and navigation detection system and apart from spy The integration technology of examining system, according to the signal information unit of lane information determination unit, route planning information unit and vehicle Judge whether vehicle enters entrance ramp readiness, in conjunction with ring road speed-limiting messages with the effective speed limit of determination, reduces to navigation The road type requirement of real-time that equipment issues improves the correct recognition rata of ring road speed limit identifying schemes, reduces to exist and fail to report With wrong report risk, improve the driving experience of driver.
On the basis of the above embodiments, in this specification one embodiment, described device further include:
Velocity information obtains module, for obtaining the speed of vehicle after the determination and prompting effective speed limit of vehicle Information；
Speed comparison module, for the velocity information of the vehicle and the height of the speed limit numerical value；
Deceleration control module 5 then controls vehicle and subtracts when being higher than the speed limit numerical value for the velocity information in the vehicle Below speed to pre-set velocity threshold value, wherein the pre-set velocity threshold value is equal to speed limit the numerical value+n, 10 >=n >=-5.
Specifically, when velocity information obtains the velocity information that module obtains and is higher than ring road speed-limiting messages, ring road preparation shape State signal judgement module 3 is that ADAS controller can control engine by deceleration control module 5 or brake and drive system for vehicle with tow controls Vehicle deceleration is to pre-set velocity threshold value hereinafter, pre-set velocity threshold value can be equal to speed limit numerical value+n, 10 >=n >=-5, the wherein number of n Value can be configured according to actual needs, be not specifically limited in this specification embodiment, such as: ring road speed limit numerical value is 40km/h, after vehicle enters ring road, ADAS controller can control vehicle by control engine or brake and drive system for vehicle with tow and subtract Speed is to 45km/h, n=5 at this time；When velocity information is lower than ring road speed-limiting messages, current vehicle speed, that is, ADAS controller is maintained not do The movement of engine or brake and drive system for vehicle with tow is controlled out.
It should be noted that the structure flow chart of Fig. 7 ring road speed limit identifying system provided in an embodiment of the present invention, such as Fig. 7 ADAS controller shown, that ring road readiness signal judgement module 3 can include using advanced driving assistance system, ADAS control The system that device processed is applied to the identification of ring road speed limit.Wherein, the system of ring road speed limit identification includes speed(-)limit sign data obtaining module 1, ring road speed-limiting messages judgment module 1-1, ring road readiness data obtaining module 2, ring road readiness signal judgement module 3, determine that cue module 4, velocity information obtain module, speed comparison module and deceleration control module 5.Ring road readiness information Judgment module 3 respectively with ring road speed-limiting messages obtain module, ring road readiness data obtaining module 2, determine cue module 4, Velocity information obtains module, speed comparison module and deceleration control module 5 and is electrically connected.Ring road readiness signal judgement module 3 Including lane information acquiring unit, lane information determination unit.
Wherein, ring road speed-limiting messages, which obtain module, can use the first picture pick-up device and/or the second picture pick-up device, speed letter Breath, which obtains module, can use automobile data recorder or directly for speed sensing equipment.Ring road readiness data obtaining module 2 may include navigation elements or the extraneous electronic equipment for being provided with navigation feature.
In technical solution provided in an embodiment of the present invention, can be by control engine or brake when overspeed of vehicle System slows down to vehicle, avoids vehicle excessive velocities when passing through ring road, causes the generation of the dangerous travel situations of vehicle, into And improve vehicle driving safety.
On the basis of the above embodiments, in this specification one embodiment, the lane information obtains the determination of module Device includes:
Lane information acquiring unit, for obtaining range information and/or lane of the left and right vehicle wheel two sides barrier to vehicle Line information；
Lane information determination unit, for determining the lane information of vehicle, the lane information according to the range information It include: rightmost side lane or secondary right-hand lane or other lanes.
Specifically, lane information acquiring unit can be used for the distance of real-time detection left and right vehicle wheel two sides barrier to vehicle Information and/or lane line information are simultaneously sent to lane information determination unit, and range information obtains module in this specification embodiment In be not specifically limited, preferably can be infrored equipment or radar equipment, lane information determination unit is according to the distance Information determines the lane information of vehicle, and the lane information of vehicle is sent to ADAS controller.
In technical solution provided in an embodiment of the present invention, vehicle can accurately be determined by obtaining module by range information The lane information at place avoids the positioning of inaccuracy caused by determining lane information with navigation equipment in previous scheme, or navigation The reasons such as equipment fault and where cannot identifying vehicle the problem of road information.
On the basis of the above embodiments, in this specification one embodiment, the ring road readiness information judges mould Block 3 is specifically used for: if in the route planning information include ring road corresponding with the ring road speed-limiting messages, then determine vehicle into Enter entrance ramp readiness.
Specifically, then can be confirmed that vehicle enters entrance ramp readiness when including ring road in route planning information.Road Diameter planning information can be to be provided by vehicle setting navigation elements, is also possible to external terminal and is provided, external terminal can be hand Machine etc. is portable can networked devices.
In technical solution provided in an embodiment of the present invention, when including ring road in route planning information, then vehicle can be confirmed Enter entrance ramp readiness, then can be believed according to ring road speed limit that picture pick-up device is identified from the road image of acquisition Breath, determines speed limit numerical value and prompts effective speed limit of vehicle, improve the correct recognition rata of ring road speed limit identifying schemes, reduction is deposited It is failing to report and is reporting risk by mistake, improving the driving experience of driver.
On the basis of the above embodiments, in this specification one embodiment, the ring road readiness information judges mould Block 3 is specifically used for: when the lane information is rightmost side lane, and the rightmost side lane leads directly to ring road, then determining vehicle Enter entrance ramp readiness.
Specifically, the lane where ADAS controller determines vehicle according to the range information received is rightmost side lane, And when the route planning information that ADAS controller receives determines that rightmost side lane can lead directly to ring road, then vehicle enters and drives into Ring road readiness.
In technical solution provided in an embodiment of the present invention, ADAS controller can be according to the range information and road received Diameter planning information can determine that vehicle enters entrance ramp readiness, then can be according to picture pick-up device from the road image of acquisition The ring road speed-limiting messages of middle identification determine speed limit numerical value and prompt effective speed limit of vehicle.Improve ring road speed limit identifying schemes Correct recognition rata, reduce exist fails to report with wrong report risk, improve the driving experience of driver.
On the basis of the above embodiments, in this specification one embodiment, the ring road readiness information judges mould Block 3 is specifically used for: when lane information is rightmost side lane, the rightmost side lane cannot be led directly to and the ring road speed-limiting messages pair When the ring road answered, and the signal information of vehicle is that open state or vehicle pass through right-hand lane line, then determines that vehicle enters Entrance ramp readiness；Wherein signal information includes: right turn lamp open state or closed state.
Specifically, the lane where ADAS controller determines vehicle according to the range information received is rightmost side lane When, but the current vehicle place lane that route planning information provides cannot lead directly to ring road corresponding with the ring road speed-limiting messages When, the signal information for the vehicle that ADAS controller obtains is open state, then ADAS controller can be confirmed that vehicle enters and sail Enter ring road readiness.
Specifically, whether Fig. 3 vehicle provided in an embodiment of the present invention enters the flow chart of entrance ramp readiness；Fig. 6 Another vehicle provided in an embodiment of the present invention enters the flow chart of entrance ramp readiness；As shown in figs. 3 and 6, work as ADAS When lane is rightmost side lane where controller determines vehicle according to the range information received, but route planning information offer When lane where current vehicle cannot lead directly to ring road, the right turn lamp for the vehicle that ADAS controller obtains is in off state, ADAS controller then needs to obtain the environmental information of vehicle, and judges that vehicle whether there is across right-hand lane according to environmental information Line, if vehicle passes through right-hand lane line, ADAS controller can be confirmed that vehicle enters entrance ramp readiness.
In technical solution provided in an embodiment of the present invention, ADAS controller can be according to range information, the vehicle received Signal information and the environmental information of vehicle can determine that vehicle enters entrance ramp readiness, then can be according to camera shooting The ring road speed-limiting messages that equipment is identified from the road image of acquisition determine speed limit numerical value and prompt effective speed limit of vehicle.It mentions The high correct recognition rata of ring road speed limit identifying schemes, reduce exist fails to report with wrong report risk, improve the driving experience of driver.
On the basis of the above embodiments, in this specification one embodiment, the ring road readiness information judges mould Block 3 is specifically used for: when lane information is time right-hand lane, the rightmost side lane can lead directly to corresponding with the ring road speed-limiting messages Ring road when, and the signal information is that open state or vehicle pass through right-hand lane line, it is determined that vehicle, which enters, to be driven into Ring road readiness.
Specifically, the lane where ADAS controller determines vehicle according to the range information received is time right-hand lane When, when lane where the current vehicle that route planning information provides can lead directly to ring road, the right side for the vehicle that ADAS controller obtains Turn signal is open state, and ADAS controller then can be confirmed that vehicle enters entrance ramp readiness.
Specifically, the lane where ADAS controller determines vehicle according to the range information received is time right-hand lane When, when lane where the current vehicle that route planning information provides can lead directly to ring road, the right side for the vehicle that ADAS controller obtains Turn signal is in off state, and ADAS controller then needs to obtain the environmental information of vehicle, and judges that vehicle is according to environmental information No to exist across right-hand lane line, if vehicle passes through right-hand lane line, ADAS controller can be confirmed that vehicle enters and drive into circle Road readiness.
In technical solution provided in an embodiment of the present invention, ADAS controller can according to receive range information, road Diameter planning information, signal information and environmental information can determine that vehicle enters entrance ramp readiness, then can be according to taking the photograph As the ring road speed-limiting messages that equipment is identified from the road image of acquisition, determines speed limit numerical value and prompt effective speed limit of vehicle. The correct recognition rata of ring road speed limit identifying schemes is improved, reduces to exist and fails to report and report risk by mistake, improve the driving body of driver It tests.
On the other hand, the present invention also provides a kind of computer readable storage medium, on the computer readable storage medium It is stored with computer program, the computer program realizes ring road speed limit recognition methods described above when being executed by processor Step.
Specifically, computer readable storage medium has technical effect described above, details are not described herein.
On the other hand, Fig. 9 is the structural schematic diagram of electronic equipment of the present invention, as shown in figure 9, the present invention also provides A kind of electronic equipment of ring road speed limit identification, comprising:
Memory, for storing computer program；
Processor realizes the step of ring road speed limit recognition methods as described above when for executing the computer program Suddenly.
Specifically, the electronic equipment of ring road speed limit identification has technical effect described above, details are not described herein.
On the other hand, the present invention also provides a kind of vehicle, the vehicle is provided with ring road limit as described in any one of the above embodiments Fast identification device.
Specifically, vehicle is provided with the ring road speed limit identification device, therefore the vehicle has ring road described above The technical effect of speed limit identification device, details are not described herein.
A kind of system for ring road speed limit identification that this specification provides can be for a kind of individually ring road speed limit identification System, can also apply in a variety of Data Analysis Services systems.The system may include any one in above-described embodiment one The device of kind ring road speed limit identification.The system can be individual server, also may include having used this specification It is the server cluster of one or more the methods or one or more embodiment device, system (including distributed system), soft Part (application), practical operation device, logic gates device, quantum computer etc. simultaneously combine the necessary terminal dress for implementing hardware It sets.The detection system of the verification variance data may include at least one processor and storage computer executable instructions Memory, the processor realize the step of method described in above-mentioned any one or multiple embodiments when executing described instruction Suddenly.
Memory can be used for storing the software program and module of application software, such as one of this specification embodiment circle Road speed limit knows the corresponding program instruction/module of method for distinguishing, processor by software program that operation is stored in memory with And module, thereby executing various function application and data processing.Memory may include high speed random access memory, may also include non- Volatile memory, such as one or more magnetic storage device, flash memory or other non-volatile solid state memories.One In a little examples, memory can further comprise the memory remotely located relative to processor, these remote memories can lead to Network connection is crossed to terminal.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, shifting Dynamic communication network and combinations thereof.
Transmission module is used to that data to be received or sent via a network.Above-mentioned network specific example may include calculating The wireless network that the communication providers of machine terminal provide.In an example, transmission module includes a network adapter (Network Interface Controller, NIC), can be connected by base station with other network equipments so as to interconnection Net is communicated.In an example, transmission module can be radio frequency (Radio Frequency, RF) module, be used to pass through Wireless mode is communicated with internet.
It is above-mentioned that this specification specific embodiment is described.Other embodiments are in the scope of the appended claims It is interior.In some cases, the movement recorded in detail in the claims or step can be come according to the sequence being different from embodiment It executes and desired result still may be implemented.In addition, process depicted in the drawing not necessarily require show it is specific suitable Sequence or consecutive order are just able to achieve desired result.In some embodiments, multitasking and parallel processing be also can With or may be advantageous.
Method or apparatus described in above-described embodiment that this specification provides can realize that business is patrolled by computer program It collects and records on a storage medium, the storage medium can be read and be executed with computer, realize this specification embodiment institute The effect of description scheme.
A kind of method or apparatus for the above-mentioned ring road speed limit identification that this specification embodiment provides can in a computer by Processor executes corresponding program instruction to realize, such as using the c++ language of windows operating system in the realization of the end PC, linux System is realized or other are for example realized using android, iOS system programming language in intelligent terminal, and is based on quantum Processing logic realization of computer etc..
It should be noted that specification device described above, computer storage medium, system are implemented according to correlation technique The description of example can also include other embodiments, and concrete implementation mode is referred to the description of corresponding method embodiment, It does not repeat one by one herein.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment Divide and participate in mutually, each embodiment focuses on the differences from other embodiments.Especially for hardware+ For program class embodiment, since it is substantially similar to the method embodiment, so being described relatively simple, related place acceding party The part of method embodiment illustrates.
This specification embodiment is not limited to meet industry communication standard, standard computer data processing sum number According to situation described in storage rule or this specification one or more embodiment.The right way of conduct is made in certain professional standards or use by oneself In formula or the practice processes of embodiment description embodiment modified slightly also may be implemented above-described embodiment it is identical, it is equivalent or The implementation result being anticipated that after close or deformation.Using these modifications or deformed data acquisition, storage, judgement, processing side The embodiment of the acquisitions such as formula still may belong within the scope of the optional embodiment of this specification embodiment.In addition, in this hair Each functional module in bright each embodiment can integrate one independent part of formation together, be also possible to modules list Solely exist, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention. And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device. In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing It is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (15)

1. a kind of ring road speed limit knows method for distinguishing characterized by comprising
Obtain the speed(-)limit sign information that identifies from the road image of acquisition, wherein speed(-)limit sign information include: speed limit numerical value and Auxiliary information；
Judge whether speed-limiting messages are ring road speed-limiting messages according to the speed-limiting messages；
If so, obtaining the lane information of vehicle, the route planning information of vehicle, the signal information of vehicle and the environment of vehicle Information, wherein the environmental information is for judging whether vehicle passes through right-hand lane line；
According to the lane information, the route planning information, the signal information and the environmental information, judge that vehicle is It is no to enter entrance ramp readiness；
If it is determined that vehicle enters entrance ramp readiness, then according to the ring road speed-limiting messages, the limit of vehicle is determined and prompts Fast numerical value.
2. ring road speed limit knows method for distinguishing according to claim 1, which is characterized in that after the determining speed limit numerical value, also Include:
Obtain the velocity information of vehicle；
Compare the velocity information of the vehicle and the height of the speed limit numerical value；
If the velocity information of the vehicle be higher than the speed limit numerical value, control vehicle deceleration to pre-set velocity threshold value hereinafter, its In, the pre-set velocity threshold value is equal to speed limit the numerical value+n, 10 >=n >=-5.
3. ring road speed limit knows method for distinguishing according to claim 1, which is characterized in that the lane information for obtaining vehicle, Include:
Obtain the range information and/or lane line information of left and right vehicle wheel two sides barrier to vehicle；
The lane information of vehicle is determined according to the range information and/or the lane line information, the lane information includes: most Right-hand lane or secondary right-hand lane or other lanes.
4. ring road speed limit knows method for distinguishing according to claim 1, which is characterized in that the judgement vehicle enters entrance ramp The process of readiness includes:
When including ring road corresponding with the ring road speed-limiting messages in the route planning information, then determines that vehicle enters and drive into circle Road readiness；
Or, when the lane information is rightmost side lane, and the rightmost side lane is led directly to and the ring road speed-limiting messages pair When the ring road answered, then determine that vehicle enters entrance ramp readiness.
5. according to claim 1 or the 4 ring road speed limits know method for distinguishing, which is characterized in that described to judge whether vehicle enters The process of entrance ramp readiness further include:
When lane information is rightmost side lane, the rightmost side lane cannot lead directly to ring road corresponding with the ring road speed-limiting messages When, and the signal information of vehicle is that open state or vehicle pass through right-hand lane line, then determines that vehicle enters entrance ramp Readiness；Wherein signal information includes: right turn lamp open state or closed state.
6. ring road speed limit knows method for distinguishing according to claim 1, which is characterized in that described to judge vehicle whether drive by entrance The process of ring road readiness further include:
When lane information is time right-hand lane, the rightmost side lane can lead directly to ring road corresponding with the ring road speed-limiting messages When, and the signal information is that open state or vehicle pass through right-hand lane line, it is determined that it is pre- that vehicle enters entrance ramp Standby state.
7. a kind of ring road speed limit identification device characterized by comprising
Speed(-)limit sign data obtaining module, for obtaining the speed(-)limit sign information identified from the road image of acquisition, wherein limiting Fast flag information includes: speed limit numerical value and auxiliary information；
Ring road speed-limiting messages judgment module, for judging whether speed-limiting messages are ring road speed-limiting messages according to the speed-limiting messages；
Ring road readiness data obtaining module, for obtaining the lane information of vehicle, the route planning information of vehicle, vehicle The environmental information of signal information and vehicle, wherein the environmental information is for judging whether vehicle passes through right-hand lane line；
Ring road readiness judgment module, for according to the lane information, the route planning information, the signal information With the environmental information, judge whether vehicle enters entrance ramp readiness；
Cue module is determined, for determining and prompting the speed limit numerical value of vehicle according to the ring road speed-limiting messages.
8. ring road speed limit identification device according to claim 7, which is characterized in that described device further include:
Velocity information obtains module, for obtaining the velocity information of vehicle after the determination and prompting effective speed limit of vehicle；
Speed comparison module, for the velocity information of the vehicle and the height of the speed limit numerical value；
Deceleration control module, when being higher than the speed limit numerical value for the velocity information in the vehicle, control vehicle deceleration is to pre- If below threshold speed, wherein the pre-set velocity threshold value is equal to speed limit the numerical value+n, 10 >=n >=-5.
9. the device of ring road speed limit identification according to claim 7, which is characterized in that the ring road readiness acquisition of information Module obtains the lane information
Lane information acquiring unit, range information and/or lane line for obtaining left and right vehicle wheel two sides barrier to vehicle are believed Breath；
Lane information determination unit, for determining that the lane of vehicle is believed according to the range information and/or the lane line information Breath, the lane information includes: rightmost side lane or secondary right-hand lane or other lanes.
10. the device of ring road speed limit identification according to claim 7, which is characterized in that the ring road readiness judges mould Block is specifically used for:
When including ring road corresponding with the ring road speed-limiting messages in the route planning information, then determines that vehicle enters and drive into circle Road readiness；
Or, when the lane information be rightmost side lane, and the rightmost side lane lead directly to ring road when, it is determined that vehicle enter Entrance ramp readiness.
11. according to the device of any one of claim 7 or 10 the ring road speed limit identification, which is characterized in that the ring road preparation Condition judgment module is also used to:
When lane information is rightmost side lane, when the rightmost side lane cannot lead directly to ring road, and the signal information of vehicle Right-hand lane line is passed through for open state or vehicle, then determines that vehicle enters entrance ramp readiness；Wherein signal information It include: right turn lamp open state or closed state.
12. the device of ring road speed limit identification according to claim 7, which is characterized in that the ring road readiness judges mould Block is also used to:
When lane information is time right-hand lane, the rightmost side lane can lead directly to ring road, and the signal information is to open State or vehicle pass through right-hand lane line, it is determined that vehicle enters entrance ramp readiness.
13. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium Program realizes such as ring road speed limit as claimed in any one of claims 1 to 6 identification side when the computer program is executed by processor The step of method.
14. a kind of electronic equipment of ring road speed limit identification characterized by comprising
Memory, for storing computer program；
Processor realizes that ring road speed limit as claimed in any one of claims 1 to 6 such as identifies when for executing the computer program The step of method.
15. a kind of vehicle, which is characterized in that the vehicle is arranged just like the described in any item ring road speed limits of claim 7 to 12 Identification device.
CN201910404290.9A 2019-05-15 2019-05-15 A kind of method and device of ring road speed limit identification Pending CN110310499A (en)

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CN (1) CN110310499A (en)

Cited By (13)

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CN110853372A (en) * 2019-12-03 2020-02-28 一汽解放汽车有限公司 Intelligent speed-limiting alarm method and device thereof
CN111524351A (en) * 2020-04-22 2020-08-11 东风汽车集团有限公司 A method for identifying the speed limit of a ramp
CN112455427A (en) * 2020-12-08 2021-03-09 安徽江淮汽车集团股份有限公司 Vehicle control method, vehicle, and storage medium
CN112758092A (en) * 2021-01-29 2021-05-07 重庆长安汽车股份有限公司 Expressway ramp speed limit control method, system, vehicle and storage medium
CN113516039A (en) * 2021-05-10 2021-10-19 东风汽车集团股份有限公司 Speed limit identification and control method
CN113758490A (en) * 2020-06-01 2021-12-07 南宁富桂精密工业有限公司 Incoming ramp judging method and navigation system
CN114426023A (en) * 2022-03-31 2022-05-03 禾多科技（北京）有限公司 A method, device, device and storage medium for determining target cruise speed
CN115273511A (en) * 2022-07-14 2022-11-01 岚图汽车科技有限公司 Ramp speed limit indication display method, system, electronic equipment and storage medium
CN115743161A (en) * 2022-11-03 2023-03-07 广州小鹏自动驾驶科技有限公司 Vehicle control method, apparatus, vehicle, and computer-readable storage medium
CN116189467A (en) * 2023-02-02 2023-05-30 浙江极氪智能科技有限公司 Speed limit reminding method and device, electronic equipment and readable storage medium
CN116597679A (en) * 2023-05-18 2023-08-15 宁波路特斯机器人有限公司 Navigation information offline prompting method, server and storage medium
TWI855497B (en) * 2023-01-09 2024-09-11 鴻海精密工業股份有限公司 Traffic sign identification methods, systems and vehicles
CN119229644A (en) * 2024-08-29 2024-12-31 中国第一汽车股份有限公司 A data processing method, device, equipment, medium and program product

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110853372A (en) * 2019-12-03 2020-02-28 一汽解放汽车有限公司 Intelligent speed-limiting alarm method and device thereof
CN111524351A (en) * 2020-04-22 2020-08-11 东风汽车集团有限公司 A method for identifying the speed limit of a ramp
CN113758490B (en) * 2020-06-01 2024-06-14 南宁富联富桂精密工业有限公司 Method for judging entering ramp and navigation system
CN113758490A (en) * 2020-06-01 2021-12-07 南宁富桂精密工业有限公司 Incoming ramp judging method and navigation system
CN112455427A (en) * 2020-12-08 2021-03-09 安徽江淮汽车集团股份有限公司 Vehicle control method, vehicle, and storage medium
CN112758092A (en) * 2021-01-29 2021-05-07 重庆长安汽车股份有限公司 Expressway ramp speed limit control method, system, vehicle and storage medium
CN113516039A (en) * 2021-05-10 2021-10-19 东风汽车集团股份有限公司 Speed limit identification and control method
CN114426023A (en) * 2022-03-31 2022-05-03 禾多科技（北京）有限公司 A method, device, device and storage medium for determining target cruise speed
CN115273511A (en) * 2022-07-14 2022-11-01 岚图汽车科技有限公司 Ramp speed limit indication display method, system, electronic equipment and storage medium
CN115743161A (en) * 2022-11-03 2023-03-07 广州小鹏自动驾驶科技有限公司 Vehicle control method, apparatus, vehicle, and computer-readable storage medium
TWI855497B (en) * 2023-01-09 2024-09-11 鴻海精密工業股份有限公司 Traffic sign identification methods, systems and vehicles
CN116189467A (en) * 2023-02-02 2023-05-30 浙江极氪智能科技有限公司 Speed limit reminding method and device, electronic equipment and readable storage medium
CN116597679A (en) * 2023-05-18 2023-08-15 宁波路特斯机器人有限公司 Navigation information offline prompting method, server and storage medium
CN119229644A (en) * 2024-08-29 2024-12-31 中国第一汽车股份有限公司 A data processing method, device, equipment, medium and program product

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Application publication date: 20191008