CN106157664A - A kind of road speed limit identification recognition device - Google Patents
A kind of road speed limit identification recognition device Download PDFInfo
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- CN106157664A CN106157664A CN201610580000.2A CN201610580000A CN106157664A CN 106157664 A CN106157664 A CN 106157664A CN 201610580000 A CN201610580000 A CN 201610580000A CN 106157664 A CN106157664 A CN 106157664A
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Classifications
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- 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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Abstract
The invention provides a kind of road speed limit identification recognition device, belong to the technical field of automotive electronics that safe driving of vehicle is relevant, comprising: GPS module, described GPS module includes GPS positioning unit and memory element, described GPS positioning unit is for determining the current location of vehicle, and the storage of described memory element is about the information of road；Photographing module, its speed(-)limit sign on collection vehicle traveling road；Processing module, the information of its Current vehicle traveling road provided with described GPS module for the speed limit identification information provided by described photographing module carries out judging to screen, determines effective speed limit of Current vehicle.A kind of road speed limit identification recognition device that the present invention provides, it is possible to high accuracy ground identifies ring road speed limit mark, is prevented effectively from and the speed limit mark of ring road is mistakenly identified as main stem speed limit mark.
Description
Technical field
The present invention relates to the technical field of automotive electronics that safe driving of vehicle is relevant, particularly relate to a kind of road speed limit mark
Identify device.
Background technology
Developing rapidly along with national economy, the road built gets more and more, and trail guide has been people door goes out clearly
The requisite companion of row.Road sign refer to before road bifurcation point or crossing arrange in order to point out each travel direction information
Guideboard, it is the one of way-finding sign, is used to transmit the mark of the information such as road direction, distance, speed.
Along with American-European-Japanese Ge great motor corporation develops and release automatic emergency brake, adaptive cruise, track holding successively
The active safety systems such as auxiliary, road traffic mark identification, on market, the popularity rate of active safety function promotes all the more.Wherein,
Road traffic mark identify function as intelligent speed-limiting and the foundation stone of automatic Pilot from now on, its importance is self-evident.But,
Owing to the standardized degree of restriction, the restriction of algorithm development ability and the road traffic mark of photographic head technology itself is relatively low, speed
Degree limits the correct recognition rata of mark and need to promote.
Particularly in high speed, due to the Chinese printed words of photographic head None-identified ring road own, and cannot accurately judge car
Whether by entrance ramp, the speed limit mark of ring road is caused cannot well to be distinguished with the speed limit mark of A-road.
Summary of the invention
It is an object of the present invention to provide a kind of road speed limit identification recognition device, it is possible to high accuracy ground identifies ring road
Speed limit identifies, and is prevented effectively from and the speed limit mark of ring road is mistakenly identified as main stem speed limit mark.
Especially, the invention provides a kind of road speed limit identification recognition device, comprising:
GPS module, described GPS module includes that GPS positioning unit and memory element, described GPS positioning unit are used for determining
The current location of vehicle, the storage of described memory element is about the information of road；
Photographing module, its speed(-)limit sign on collection vehicle traveling road；
Processing module, it is for the speed limit identification information provided by described photographing module and working as that described GPS module provides
The information of vehicle in front traveling road carries out judging to screen, and determines effective speed limit of Current vehicle.
Further, described road information includes the road of the type of road, track, speed limit, branch road, crossroad.
Further, described road speed limit identification recognition device also includes reminding module, and it is for by described processing module
The value of effective speed limit of the Current vehicle determined is processed into voice messaging prompting driver.
Further, described processing module receives the speed limit mark on the vehicle traveling road of described photographing module Real-time Collection
Will image, and image is strengthened and denoising.
Further, described GPS module can be connected with the electronic control unit of vehicle, it is possible to upgrading in time is stored
Information about road.
Further, in described GPS module is independently arranged at described road speed limit identification recognition device.
Further, described GPS module shares with Vehicular navigation system, described GPS module and described processing module
Carry out data transmission based on CAN.
Further, the speed limit speed obtained when speed(-)limit sign being detected in the outer image of the car of described photographing module collection is
Shooting speed limit speed, the speed limit speed on the current line access road that described GPS module provides is GPS speed limit speed；
When speed(-)limit sign being detected in the outer image of the car of described photographing module collection, described processing module is according to described GPS
Module judges whether to exist at vehicle current line access road ring road, and according to described shooting speed limit speed and described GPS speed limit speed
Degree is screened and is judged, confirms effective speed limit of Current vehicle.
Further, the examination judge process of described processing module:
When described shooting speed limit speed is more than 60km/h, confirm that effective speed limit of Current vehicle is described shooting speed limit speed
Degree；
Described shooting speed limit speed is not more than 60km/h, when described shooting speed limit speed is consistent with described GPS speed limit speed,
The effective speed limit then confirming Current vehicle is consistent described shooting speed limit speed；
Described shooting speed limit speed is not more than 60km/h, and described shooting speed limit speed is inconsistent with described GPS speed limit speed
Time, then confirm that effective speed limit of Current vehicle is GPS speed limit speed.
Further, when vehicle travels according to the travel path that Vehicular navigation system confirms, the examination of described processing module
Judge process:
When described shooting speed limit speed is more than 60km/h, confirm that effective speed limit of Current vehicle is described shooting speed limit speed
Degree；
Described shooting speed limit speed is not more than 60km/h, when described shooting speed limit speed is consistent with described GPS speed limit speed,
The effective speed limit then confirming Current vehicle is consistent described shooting speed limit speed；
Described shooting speed limit speed is not more than 60km/h, and described shooting speed limit speed is inconsistent with described GPS speed limit speed,
Vehicle when forward position main stem travels, then confirms that effective speed limit of Current vehicle is GPS speed limit speed；
Described shooting speed limit speed is not more than 60km/h, and described shooting speed limit speed is inconsistent with described GPS speed limit speed,
Vehicle will entrance ramp, and ring road distance less than 500m time, then confirm that effective speed limit of Current vehicle is described shooting speed limit
Speed；
Described shooting speed limit speed is not more than 60km/h, and described shooting speed limit speed is inconsistent with described GPS speed limit speed,
Vehicle will entrance ramp, and ring road distance more than 500m time, then confirm that effective speed limit of Current vehicle is described GPS speed limit speed
Degree.
A kind of road speed limit identification recognition device that the present invention provides, real-time by being arranged on the photographing module of vehicle front
The outer image of collecting vehicle, the speed limit identification information that described photographing module is provided by described processing module provides with described GPS module
The information of Current vehicle traveling road carries out the fusion treatment of data, judges accurately to screen to make, determines Current vehicle
Effectively speed limit, it is possible to the identification ring road speed limit mark of high-accuracy, it is to avoid the speed limit of ring road is identified and is mistakenly identified as main stem speed limit
Mark.
Accompanying drawing explanation
Describe some specific embodiments of the present invention the most by way of example, and not by way of limitation in detail.
Reference identical in accompanying drawing denotes same or similar parts or part.It should be appreciated by those skilled in the art that these
Accompanying drawing is not necessarily drawn to scale.In accompanying drawing:
When Fig. 1 is the path planning closedown of a kind of road speed limit identification recognition device
Convergence strategy schematic diagram；
When Fig. 2 is the path planning unlatching of a kind of road speed limit identification recognition device
Convergence strategy schematic diagram.
Detailed description of the invention
The invention provides a kind of road speed limit identification recognition device, described road speed limit identification recognition device includes:
GPS module, described GPS module includes that GPS positioning unit and memory element, described GPS positioning unit are used for determining
The current location of vehicle, the storage of described memory element is about the information of road；
Photographing module, its speed(-)limit sign on collection vehicle traveling road；
Processing module, it is for the speed limit identification information provided by described photographing module and working as that described GPS module provides
The information of vehicle in front traveling road carries out judging to screen, and determines effective speed limit of Current vehicle.
Specifically, described road information includes the road of the type of road, track, speed limit, branch road, crossroad.Described
Road speed limit identification recognition device also includes reminding module, effective limit of its Current vehicle for described processing module being determined
The value of speed is processed into voice messaging prompting driver.Described processing module receives the vehicle of described photographing module Real-time Collection and advances
Speed(-)limit sign image on road, and image is strengthened and denoising.Described GPS module can be with the Electronic Control of vehicle
Unit is connected, it is possible to the information of the relevant road stored that upgrades in time.
Further, in a specific embodiment, described GPS module is to be independently arranged at described road speed limit mark
In identifying device.In another particular embodiment of the invention, described GPS module shares with Vehicular navigation system, institute
State GPS module to carry out data transmission based on CAN with described processing module.
During the work of described road speed limit identification recognition device, the outer image of the car of described photographing module collection detects speed limit
The speed limit speed obtained during mark for shooting speed limit speed, the speed limit speed on the current line access road that described GPS module provides is
GPS speed limit speed；When speed(-)limit sign being detected in the outer image of the car of described photographing module collection, described processing module is according to described
GPS module judges whether to exist at vehicle current line access road ring road, and according to described shooting speed limit speed and described GPS speed limit
Speed is screened and is judged, confirms effective speed limit of Current vehicle.
When Fig. 1 is the path planning closedown of a kind of road speed limit identification recognition device
Convergence strategy schematic diagram.As it is shown in figure 1, be to be independently arranged in described road speed limit identification recognition device in described GPS module
Situation or vehicle do not use onboard navigation system planning driving path time, the examination judge process of described processing module:
When described shooting speed limit speed is more than 60km/h, confirm that effective speed limit of Current vehicle is described shooting speed limit speed
Degree；
Described shooting speed limit speed is not more than 60km/h, when described shooting speed limit speed is consistent with described GPS speed limit speed,
The effective speed limit then confirming Current vehicle is consistent described shooting speed limit speed；
Described shooting speed limit speed is not more than 60km/h, and described shooting speed limit speed is inconsistent with described GPS speed limit speed
Time, then confirm that effective speed limit of Current vehicle is GPS speed limit speed.
When Fig. 2 is the path planning unlatching of a kind of road speed limit identification recognition device
Convergence strategy schematic diagram.As in figure 2 it is shown, when described GPS module is to share with Vehicular navigation system, or vehicle uses navigation
When system carries out form path planning, the examination judge process of described processing module:
When described shooting speed limit speed is more than 60km/h, confirm that effective speed limit of Current vehicle is described shooting speed limit speed
Degree；
Described shooting speed limit speed is not more than 60km/h, when described shooting speed limit speed is consistent with described GPS speed limit speed,
The effective speed limit then confirming Current vehicle is consistent described shooting speed limit speed；
Described shooting speed limit speed is not more than 60km/h, and described shooting speed limit speed is inconsistent with described GPS speed limit speed,
Vehicle when forward position main stem travels, then confirms that effective speed limit of Current vehicle is GPS speed limit speed；
Described shooting speed limit speed is not more than 60km/h, and described shooting speed limit speed is inconsistent with described GPS speed limit speed,
Vehicle will entrance ramp, and ring road distance less than 500m time, then confirm that effective speed limit of Current vehicle is described shooting speed limit
Speed；
Described shooting speed limit speed is not more than 60km/h, and described shooting speed limit speed is inconsistent with described GPS speed limit speed,
Vehicle will entrance ramp, and ring road distance more than 500m time, then confirm that effective speed limit of Current vehicle is described GPS speed limit speed
Degree.
A kind of road speed limit identification recognition device that the present invention provides is a kind of based on vehicle mounted guidance to avoid ring road speed limit
Mark misrecognition device.When vehicle travels on highway, this device vehicle-mounted is led by what photographic head received in bus
The relevant information that boat provides, carries out Data Fusion with the view data detected by photographic head.When vehicle is through the most public
During the ring road mouth of road, vehicle mounted guidance a certain distance in advance sends whether front has ring road and vehicle route whether exit ramp etc.
Information, after front cam device receives this information, carries out judging to discriminate according to the speed limit size of the speed limit mark recognized
Not.
A kind of road speed limit identification recognition device that the present invention provides, system architecture is simple, carries out data based on CAN
Transmission, with low cost, easy to use.
A kind of road speed limit identification recognition device that the present invention provides, real-time by being arranged on the photographing module of vehicle front
The outer image of collecting vehicle, the speed limit identification information that described photographing module is provided by described processing module provides with described GPS module
The information of Current vehicle traveling road carries out the fusion treatment of data, judges accurately to screen to make, determines Current vehicle
Effectively speed limit, it is possible to the identification ring road speed limit mark of high-accuracy, it is to avoid the speed limit of ring road is identified and is mistakenly identified as main stem speed limit
Mark.
So far, although those skilled in the art will appreciate that and the most detailed illustrate and describing the exemplary of the present invention
Embodiment, but, without departing from the spirit and scope of the present invention, still directly can determine according to present disclosure
Or derive other variations or modifications of many meeting the principle of the invention.Therefore, the scope of the present invention is it is understood that and regard as
Cover other variations or modifications all these.
Claims (10)
1. a road speed limit identification recognition device, it is characterised in that described road speed limit identification recognition device includes:
GPS module, described GPS module includes that GPS positioning unit and memory element, described GPS positioning unit are used for determining vehicle
Current location, the storage of described memory element is about the information of road；
Photographing module, its speed(-)limit sign on collection vehicle traveling road；
Processing module, its current vehicle provided with described GPS module for the speed limit identification information that described photographing module is provided
The information of traveling road carries out judging to screen, and determines effective speed limit of Current vehicle.
Road speed limit identification recognition device the most according to claim 1, it is characterised in that described road information includes road
Type, track, speed limit, branch road, the road of crossroad.
Road speed limit identification recognition device the most according to claim 1, it is characterised in that described road speed limit mark identifies
Device also includes reminding module, and it is processed into voice for the value of effective speed limit of the Current vehicle described processing module determined
Information alert driver.
Road speed limit identification recognition device the most according to claim 1, it is characterised in that described processing module receives described
Speed(-)limit sign image on the vehicle traveling road of photographing module Real-time Collection, and image is strengthened and denoising.
Road speed limit identification recognition device the most according to claim 1, it is characterised in that described GPS module energy and vehicle
Electronic control unit be connected, it is possible to the information of the relevant road stored that upgrades in time.
Road speed limit identification recognition device the most according to claim 1 or 5, it is characterised in that described GPS module is independent
It is arranged in described road speed limit identification recognition device.
Road speed limit identification recognition device the most according to claim 1 or 5, it is characterised in that described GPS module is and car
Navigation system shares, and described GPS module carries out data transmission based on CAN with described processing module.
Road speed limit identification recognition device the most according to claim 1, it is characterised in that the car that described photographing module gathers
The speed limit speed obtained when speed(-)limit sign being detected in outer image is shooting speed limit speed, the current line that described GPS module provides
The speed limit speed on access road is GPS speed limit speed；
When speed(-)limit sign being detected in the outer image of the car of described photographing module collection, described processing module is according to described GPS module
Judge whether to exist at vehicle current line access road ring road, and discriminate according to described shooting speed limit speed and described GPS speed limit speed
Do not judge, confirm effective speed limit of Current vehicle.
9. according to the road speed limit identification recognition device any one of claim 1-6 or described in 8, it is characterised in that described place
The examination judge process of reason module:
When described shooting speed limit speed is more than 60km/h, confirm that effective speed limit of Current vehicle is described shooting speed limit speed；
Described shooting speed limit speed is not more than 60km/h, when described shooting speed limit speed is consistent with described GPS speed limit speed, the most really
The effective speed limit recognizing Current vehicle is consistent described shooting speed limit speed；
Described shooting speed limit speed is not more than 60km/h, when described shooting speed limit speed is inconsistent with described GPS speed limit speed, then
Effective speed limit of confirmation Current vehicle is GPS speed limit speed.
Road speed limit identification recognition device the most according to claim 7, it is characterised in that vehicle is according to automobile navigation system
When the travel path that system confirms travels, the examination judge process of described processing module:
When described shooting speed limit speed is more than 60km/h, confirm that effective speed limit of Current vehicle is described shooting speed limit speed；
Described shooting speed limit speed is not more than 60km/h, when described shooting speed limit speed is consistent with described GPS speed limit speed, the most really
The effective speed limit recognizing Current vehicle is consistent described shooting speed limit speed；
Described shooting speed limit speed is not more than 60km/h, and described shooting speed limit speed is inconsistent with described GPS speed limit speed, vehicle
When forward position main stem travels, then confirm that effective speed limit of Current vehicle is GPS speed limit speed；
Described shooting speed limit speed is not more than 60km/h, and described shooting speed limit speed is inconsistent with described GPS speed limit speed, vehicle
Will entrance ramp, and ring road distance less than 500m time, then confirm that effective speed limit of Current vehicle is described shooting speed limit speed；
Described shooting speed limit speed is not more than 60km/h, and described shooting speed limit speed is inconsistent with described GPS speed limit speed, vehicle
Will entrance ramp, and ring road distance more than 500m time, then confirm that effective speed limit of Current vehicle is described GPS speed limit speed.
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| CN107351685A (en) * | 2017-06-29 | 2017-11-17 | 浙江合众新能源汽车有限公司 | A kind of speed limit display system |
| CN107798291A (en) * | 2017-09-18 | 2018-03-13 | 广州鹰瞰信息科技有限公司 | A kind of speed limit index identification method, device and system |
| CN108288399A (en) * | 2018-01-29 | 2018-07-17 | 浙江吉利汽车研究院有限公司 | Speed limit prompt message generation method and device |
| CN108320535A (en) * | 2018-04-10 | 2018-07-24 | 哈尔滨工业大学 | A kind of passing control method of road merging area weaving vehicles |
| CN108470459A (en) * | 2018-03-28 | 2018-08-31 | 吉利汽车研究院（宁波）有限公司 | Ring road speed limit suggestion device and method |
| CN108520634A (en) * | 2018-03-28 | 2018-09-11 | 吉利汽车研究院（宁波）有限公司 | The recognition methods of high speed ring road speed limit, device and electronic equipment |
| CN108573611A (en) * | 2017-12-15 | 2018-09-25 | 蔚来汽车有限公司 | Speed limit sign fusion method and speed limit sign fusion system |
| CN109102711A (en) * | 2017-12-15 | 2018-12-28 | 蔚来汽车有限公司 | method for determining road safety speed information |
| CN109345854A (en) * | 2018-10-30 | 2019-02-15 | 江铃汽车股份有限公司 | Automobile speed limit reminding method, device, readable storage medium storing program for executing and automobile |
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| CN109964132A (en) * | 2017-02-07 | 2019-07-02 | 宝马股份公司 | Method, apparatus and system for the sensors configured in moving object |
| CN110070742A (en) * | 2019-05-29 | 2019-07-30 | 浙江吉利控股集团有限公司 | The recognition methods of high speed ring road speed limit, system and vehicle |
| CN111383473A (en) * | 2018-12-29 | 2020-07-07 | 安波福电子(苏州)有限公司 | Self-adaptive cruise system based on traffic sign speed limit indication |
| CN114446071A (en) * | 2022-02-28 | 2022-05-06 | 重庆长安汽车股份有限公司 | Road speed limit information fusion judgment method |
| CN114771568A (en) * | 2022-04-22 | 2022-07-22 | 重庆长安汽车股份有限公司 | Speed limit fusion method and system based on camera and map information and vehicle |
| 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 |
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| CN107798291B (en) * | 2017-09-18 | 2019-05-10 | 广州鹰瞰信息科技有限公司 | A kind of speed limit index identification method, device and system |
| CN107798291A (en) * | 2017-09-18 | 2018-03-13 | 广州鹰瞰信息科技有限公司 | A kind of speed limit index identification method, device and system |
| CN108573611B (en) * | 2017-12-15 | 2021-03-19 | 上海蔚来汽车有限公司 | Speed limit sign fusion method and speed limit sign fusion system |
| CN109102711A (en) * | 2017-12-15 | 2018-12-28 | 蔚来汽车有限公司 | method for determining road safety speed information |
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| CN108470459A (en) * | 2018-03-28 | 2018-08-31 | 吉利汽车研究院（宁波）有限公司 | Ring road speed limit suggestion device and method |
| CN108520634A (en) * | 2018-03-28 | 2018-09-11 | 吉利汽车研究院（宁波）有限公司 | The recognition methods of high speed ring road speed limit, device and electronic equipment |
| CN108320535B (en) * | 2018-04-10 | 2020-10-13 | 哈尔滨工业大学 | Traffic control method for interlaced vehicles in road traffic area |
| CN108320535A (en) * | 2018-04-10 | 2018-07-24 | 哈尔滨工业大学 | A kind of passing control method of road merging area weaving vehicles |
| CN109345854B (en) * | 2018-10-30 | 2021-10-08 | 江铃汽车股份有限公司 | Automobile speed limit prompting method and device, readable storage medium and automobile |
| CN109345854A (en) * | 2018-10-30 | 2019-02-15 | 江铃汽车股份有限公司 | Automobile speed limit reminding method, device, readable storage medium storing program for executing and automobile |
| CN109532845A (en) * | 2018-12-21 | 2019-03-29 | 奇瑞汽车股份有限公司 | Control method, device and the storage medium of intelligent automobile |
| CN111383473A (en) * | 2018-12-29 | 2020-07-07 | 安波福电子(苏州)有限公司 | Self-adaptive cruise system based on traffic sign speed limit indication |
| CN110070742A (en) * | 2019-05-29 | 2019-07-30 | 浙江吉利控股集团有限公司 | The recognition methods of high speed ring road speed limit, system and vehicle |
| CN114446071A (en) * | 2022-02-28 | 2022-05-06 | 重庆长安汽车股份有限公司 | Road speed limit information fusion judgment method |
| CN114771568A (en) * | 2022-04-22 | 2022-07-22 | 重庆长安汽车股份有限公司 | Speed limit fusion method and system based on camera and map information and vehicle |
| CN114771568B (en) * | 2022-04-22 | 2024-06-11 | 重庆长安汽车股份有限公司 | Speed limiting fusion method and system based on camera and map information and vehicle |
| 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 |
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Application publication date: 20161123 |