CN108520634A - The recognition methods of high speed ring road speed limit, device and electronic equipment - Google Patents
The recognition methods of high speed ring road speed limit, device and electronic equipment Download PDFInfo
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- CN108520634A CN108520634A CN201810268113.8A CN201810268113A CN108520634A CN 108520634 A CN108520634 A CN 108520634A CN 201810268113 A CN201810268113 A CN 201810268113A CN 108520634 A CN108520634 A CN 108520634A
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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Abstract
The present invention provides a kind of high speed ring road speed limit recognition methods, device and electronic equipments, it is related to technical field of vehicle navigation, the high speed ring road speed limit recognition methods includes obtaining the road information of navigation equipment acquisition first, the road information includes road type, and road type is super expressway or non-high-speed road；Then the speed(-)limit sign information that picture pick-up device is identified from the road image of acquisition is obtained, and determines the corresponding camera shooting speed limit of the speed(-)limit sign information；According to above-mentioned road information and above-mentioned camera shooting speed limit, effective speed limit of current vehicle is determined and prompted.In the embodiment of the present invention without the speed limit Filling power based on road type, reduce the road type requirement of real-time sent out to navigation equipment, 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 experience of driver.
Description
Technical field
The present invention relates to technical field of vehicle navigation, more particularly, to a kind of high speed ring road speed limit recognition methods, device and
Electronic equipment.
Background technology
Ring road is also known as led the way, and is often referred to one section and is provided vehicles while passing backbone and neighbouring bypass or other backbones
Road is connected, such as high speed entrance ring road, overhead entrance ring road.Because of ring road particularity, to ensure driving safety, usually in ring road
Entrance and ring road in, can arrange ring road speed(-)limit sign, generally require speed be less than 40km/h.
In the detectable speed-limiting messages type of detection system of navigating, the speed-limiting messages based on road type, such as super expressway
Speed limit 120km/h, provincial highway speed limit 60km/h, although the covering of such speed limit is wider, mostly Filling power exists and practical speed limit
Not the case where not being inconsistent.There is also lag for judgement of the detection system of navigating to road type, during actual test, vehicle into
After entering ring road, just lag sends out ramp roadway type at this time for navigation, or in most cases, does not send out ramp roadway class
Type.Above-mentioned two situations can cause existing ring road determination strategy that can not obtain effective basis for estimation, especially on navigation road
Diameter becomes apparent under closing.
To sum up, existing Expressway Entrance Ramp determination strategy needs the road type sent out according to navigation, and is based on road class
The speed-limiting messages of type, and current navigation detection system can not also provide basis for estimation accurately and timely, cause to navigate at present and visit
Examining system and the Expressway Entrance Ramp speed limit identifying schemes correct recognition rata of camera detection system data fusion be not high, there is leakage
Report and wrong report risk, influence the driving experience of driver.
Invention content
In view of this, the purpose of the present invention is to provide a kind of high speed ring road speed limit recognition methods, device and electronic equipment,
To reduce the road type requirement of real-time sent out to navigation equipment, the correct recognition rata of ring road speed limit identifying schemes is improved, is subtracted
Small presence fails to report and reports risk by mistake, improves the driving experience of driver.
In a first aspect, an embodiment of the present invention provides a kind of high speed ring road speed limit recognition methods, including：
The road information of navigation equipment acquisition is obtained, the road information includes road type, and the road type is height
Fast road or non-high-speed road；
The speed(-)limit sign information that picture pick-up device is identified from the road image of acquisition is obtained, and determines the speed(-)limit sign letter
Cease corresponding camera shooting speed limit；
According to the road information and the camera shooting speed limit, effective speed limit of current vehicle is determined and prompted.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiments of first aspect, wherein institute
It states and determines that effective speed limit of current vehicle includes according to the road information and the camera shooting speed limit：
When the road type is non-high-speed road, using the camera shooting speed limit as effective speed limit of current vehicle,
And it is prompted；
When the road type is super expressway, according to camera shooting speed limit determination and the effective of current vehicle is prompted
Speed limit.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiments of first aspect, wherein when
It is described according to the road type and the camera shooting speed limit when route that the vehicle is planned according to the navigation equipment
Value determines and prompts effective speed limit of current vehicle to include：
When the road type is non-high-speed road, using the camera shooting speed limit as effective speed limit of current vehicle,
And it is prompted；
When the road type is super expressway, monitors and whether there is ring road prompt message in the road information；
When there are the ring road prompt message, using the camera shooting speed limit as effective speed limit of current vehicle, go forward side by side
Row prompt；
When there is no the ring road prompt message, according to camera shooting speed limit determination and the effective of current vehicle is prompted
Speed limit.
With reference to first aspect the first or second of possible embodiment, an embodiment of the present invention provides first party
The third possible embodiment in face, wherein effective speed limit packet that current vehicle is determined according to the camera shooting speed limit
It includes：
When the camera shooting speed limit is more than 60Km/h, using the camera shooting speed limit as effective speed limit of current vehicle,
And it is prompted；
When the camera shooting speed limit is less than or equal to 60Km/h, ignore the camera shooting speed limit and without prompt.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiments of first aspect, wherein right
The mode that effective speed limit is prompted includes voice prompt and/or picture and text prompt.
Second aspect, the embodiment of the present invention also provide a kind of high speed ring road speed limit identification device, including：
Navigate acquisition module, and the road information for obtaining navigation equipment acquisition, the road information includes road type,
The road type is super expressway or non-high-speed road；
Camera shooting acquisition module, the speed(-)limit sign information identified from the road image of acquisition for obtaining picture pick-up device, and
Determine the corresponding camera shooting speed limit of the speed(-)limit sign information；
Reminding module is determined, for according to the road information and the camera shooting speed limit, determining and prompting current vehicle
Effective speed limit.
In conjunction with second aspect, an embodiment of the present invention provides the first possible embodiments of second aspect, wherein institute
Determining reminding module is stated to be additionally operable to：
When the road type is non-high-speed road, using the camera shooting speed limit as effective speed limit of current vehicle,
And it is prompted；
When the road type is super expressway, according to camera shooting speed limit determination and the effective of current vehicle is prompted
Speed limit.
In conjunction with second aspect, an embodiment of the present invention provides second of possible embodiments of second aspect, wherein when
When the route that the vehicle is planned according to the navigation equipment, the determining reminding module is additionally operable to：
When the road type is non-high-speed road, using the camera shooting speed limit as effective speed limit of current vehicle,
And it is prompted；
When the road type is super expressway, monitors and whether there is ring road prompt message in the road information；
When there are the ring road prompt message, using the camera shooting speed limit as effective speed limit of current vehicle, go forward side by side
Row prompt；
When there is no the ring road prompt message, according to camera shooting speed limit determination and the effective of current vehicle is prompted
Speed limit.
The third aspect, the embodiment of the present invention also provide a kind of electronic equipment, including memory, processor, the memory
On be stored with the computer program that can be run on the processor, the processor is realized when executing the computer program
State the method described in first aspect and its any possible embodiment.
Fourth aspect, the embodiment of the present invention also provide a kind of meter for the non-volatile program code that can perform with processor
Calculation machine readable medium, said program code make the processor execute the first aspect and its any possible embodiment
The method.
The embodiment of the present invention brings following advantageous effect：
In embodiment provided by the invention, which includes obtaining navigation equipment acquisition first
Road information, which includes road type, and road type is super expressway or non-high-speed road；Then it obtains and takes the photograph
As the speed(-)limit sign information that equipment is identified from the road image of acquisition, and determine the corresponding camera shooting speed limit of the speed(-)limit sign information
Value；According to above-mentioned road information and above-mentioned camera shooting speed limit, effective speed limit of current vehicle is determined and prompted.Implement in the present invention
In the technical solution that example provides, using the integration technology of camera detection system and navigation detection system, it is only necessary to be believed according to road
Breath judges whether present road type is super expressway, in conjunction with camera shooting speed limit with the effective speed limit of determination, without based on road
The speed limit Filling power of road type reduces the road type requirement of real-time sent out to navigation equipment, improves the knowledge of ring road speed limit
The correct recognition rata of other scheme reduces to exist and fails to report and report risk by mistake, improves the driving experience of driver.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of flow diagram of high speed ring road speed limit recognition methods provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of another high speed ring road speed limit recognition methods provided in an embodiment of the present invention；
Fig. 3 is the flow diagram of another high speed ring road speed limit recognition methods provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of high speed ring road speed limit identification device provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
At present to the ring road speed limit on speed-limiting messages, especially super expressway, there are 2 kinds of identifying schemes：(a) it uses and individually takes the photograph
As head detection system is identified.(b) camera detection system is used to be identified with navigation detection system data fusion.
Wherein camera detection system speed(-)limit sign for identification.After camera detects ring road speed(-)limit sign, passing through
Plane rises where crossing speed(-)limit sign, starts to prompt driver, what speed(-)limit sign was shown effectively keeps at a distance according to ring road speed limit
And it is currently located road type judgement, such as the ring road speed(-)limit sign of 30km/h is recognized on super expressway, which exists
Effectively keeping at a distance in display crosses the distance of 500m after speed(-)limit sign plane for vehicle, recognizes the ring road speed limit of 40km/h
Mark is then kept at a distance as 600m, for another example in the ring road speed(-)limit sign for recognizing 60km/h on urban road, effectively keep away from
From then be 700m.Obtained by a large amount of test datas of basis of design kept at a distance, there is optimum drive experience within this range.
Navigation detection system is for judging present road type, route planning information etc..It is come from when navigation equipment receives
After the GPS signal of vehicle, the road type of current vehicle position is judged, such as whether be located at super expressway, city at present
City's through street, national highway, provincial highway, backroad etc..When driver is provided with navigation path planning, and the path indicates vehicle
A certain ring road will be driven into, when vehicle will drive into the ring road in path planning, navigation will be before the ring road position
Alerting signal is sent out at 1000m, 500m, 200m respectively.
(a) individually camera detection system scheme can carry out detection identification to the road speed(-)limit sign with circular boundary.
After camera detects speed-limiting messages, current speed limit is shown to driver.If intelligent speed-limiting function is only with camera
Detection system, then under single camera pattern, can not intelligent filtering ring road speed-limiting messages, i.e., when camera recognizes ring road speed limit
When, no matter whether vehicle will enter ring road, and intelligent speed-limiting prompting function can all show the speed limit, cause there are function erroneous judgement,
The problems such as driving experience sense is poor.
(b) there are two types of types for the detectable speed-limiting messages of navigation detection system, the first is the electronics taken pictures based on speed limit
Eye speed-limiting messages, second is the speed-limiting messages based on road type, such as super expressway speed limit 120km/h, provincial highway speed limit 60km/
H, ring road speed limit 40km/h.Camera detection system with navigation detection system data fusion scheme can auxiliary camera judge whether
Show ring road speed limit, i.e.,：Vehicle enters ring road and then shows that the ring road speed limit, vehicle do not enter ring road and do not show that ring road limits then
Speed value.
Wherein, navigation equipment needs to fill road speed limit according to the road type of judgement, and camera is combined to obtain
Speed limit on speed limit signboard determines final effective speed limit.But there is the case where not conforming to the actual conditions in road Filling power,
Such as detect present road be provincial highway, Filling power 60km/h, and the speed limit on actual speed limit signboard be 50km/h.Separately
Outside, to determining for road type there is lag in navigation equipment, and after coming into ring road such as vehicle, just lag is sent out at this time for navigation
Ramp roadway type, or in most cases, do not send out ramp roadway type.Above-mentioned two situations can lead to existing circle
Road determination strategy can not obtain after effective basis for estimation, especially path navigation closing.
It is not high in order to solve above-mentioned ring road speed limit identifying schemes correct recognition rata, exist and fails to report and wrong report risk
Problem, a kind of high speed ring road speed limit recognition methods, device and electronic equipment provided in an embodiment of the present invention, the technology can with but not
It is limited in the navigation procedure for being applied to vehicle traveling, by related hardware and software realization, is retouched below by embodiment
It states.
Referring to a kind of flow diagram of high speed ring road speed limit recognition methods provided in an embodiment of the present invention shown in Fig. 1.
In a possible embodiment, this method can be applied to ADAS (Advanced Driver Assistant Systems, it is advanced
Driving assistance system) in controller, collected information is input to ADAS controls by picture pick-up device and navigation equipment by CAN bus
In device processed.
During the present embodiment identifies speed-limiting messages, picture pick-up device identifies effective speed limit by image processing techniques
Flag information；Navigation equipment detects the road type (super expressway or non-high-speed road) where current vehicle；ADAS is controlled
Device processed merges the signal of current picture pick-up device and navigation equipment input, carries out strategy matching.After driver selects path planning,
Ring road path is related under the path.Navigation will send ring road signal and give ADAS controllers, ADAS controller navigations letter
Whether the speed(-)limit sign that breath comprehensive descision is recognized at present is the ring road speed limit currently to be entered, to which whether decision shows this
Speed(-)limit sign.When the non-selected path planning of driver, ADAS controllers match corresponding strategy, judge whether to show and identify at present
Speed(-)limit sign.
Specifically, it is illustrated for being applied to ADAS controllers below.The high speed ring road speed limit recognition methods includes：
Step S101 obtains the road information of navigation equipment acquisition, which includes road type, and road type is
Super expressway or non-high-speed road.
Specifically, navigation equipment can be installed on vehicle, which can position vehicle, so that it is determined that
Go out road information, which is sent to ADAS controllers.
Step S102 obtains the speed(-)limit sign information that picture pick-up device is identified from the road image of acquisition, and described in determination
The corresponding camera shooting speed limit of speed(-)limit sign information.
Above-mentioned camera shooting collecting device is installed on vehicle, which acquires the road on the road of traveling in real time
Image carries out respective handling, such as reinforcing, denoising and deep learning processing to the road image, is extracted from the road image acute
The speed(-)limit sign information is sent to ADAS controls by the speed(-)limit sign part of saturating circular boundary to identify speed(-)limit sign information
Device.ADAS controllers determine the corresponding camera shooting speed limit of the speed(-)limit sign information after receiving speed(-)limit sign information.
Step S103 determines and prompts effective speed limit of current vehicle according to above-mentioned road information and camera shooting speed limit.
It specifically, can be according to camera shooting speed limit to determine whether prompt circle after judging whether to be super expressway
Road speed limit.The mode wherein prompted above-mentioned effective speed limit includes voice prompt and/or picture and text prompt, and concrete mode is here
It is not construed as limiting.
It should be noted that the specific execution sequencing of above-mentioned steps S101 and step S102 is not construed as limiting here.
In technical solution provided in an embodiment of the present invention, merged with navigation detection system using camera detection system
Technology, it is only necessary to judge whether present road type is super expressway according to road information, it is effective to determine in conjunction with camera shooting speed limit
Speed limit is reduced and is wanted to the road type real-time that navigation equipment is sent out without the speed limit Filling power based on road type
It asks, improves the correct recognition rata of ring road speed limit identifying schemes, reduce to exist and fail to report and report risk by mistake, improve the driving of driver
Experience.
In other possible embodiments, specifically high speed ring road speed limit recognition methods can be divided into two ways, below
Both modes are introduced respectively.
The first, when the path planning function of navigation equipment is closed, navigation equipment is in cruising condition, is set by navigation
It is standby to may determine that road type：
Fig. 2 shows the flow diagrams of another high speed ring road speed limit recognition methods provided in an embodiment of the present invention.Such as
Shown in Fig. 2, which includes：
Step S201 obtains the road information of navigation equipment acquisition, which includes road type, and road type is
Super expressway or non-high-speed road.
Step S202 obtains the speed(-)limit sign information that picture pick-up device is identified from the road image of acquisition, and described in determination
The corresponding camera shooting speed limit of speed(-)limit sign information.
Specifically, above-mentioned steps S201 and step S202 are referred to step S101 and step S102.
Step S203 judges whether above-mentioned road type is super expressway.
If above-mentioned road type is non-high-speed road, S204 is thened follow the steps；
If above-mentioned road type is super expressway, need further to be judged, be determined according to camera shooting speed limit
And effective speed limit of current vehicle is prompted, execute step S205.
Step S204 using above-mentioned camera shooting speed limit as effective speed limit of current vehicle, and is prompted.
Specifically, if road type is non-high-speed road, show that vehicle enters ring road or vehicle has sailed out of high speed road
Road should prompt camera shooting speed limit virtual value at this time, and to prompt driver, there are ring road speed limits.Namely on non-high-speed road,
The speed(-)limit sign that picture pick-up device is got is prompted.
Step S205, judges whether above-mentioned camera shooting speed limit is less than or equal to 60Km/h.
Since the speed limit of general super expressway is 60Km/h or more, the speed limit of non-high-speed road is less than or equal to 60Km/h, because
This selects 60Km/h for separation.When above-mentioned camera shooting speed limit is more than 60Km/h, step S206 is executed；
When above-mentioned camera shooting speed limit is less than or equal to 60Km/h, step S207 is executed.
Step S206 using above-mentioned camera shooting speed limit as effective speed limit of current vehicle, and is prompted.
Specifically, when above-mentioned camera shooting speed limit is more than 60Km/h, show the non-ring road speed limit of speed limit at this time, speed limit mark
Will should be the speed(-)limit sign for the main stem speed limit being arranged in high speed, and vehicle does not descend ring road and still travelled on super expressway, because
This should prompt the speed(-)limit sign.In a possible embodiment, by showing that the camera shooting speed limit is prompted.
Step S207 ignores above-mentioned camera shooting speed limit and without prompt.
Specifically, when above-mentioned camera shooting speed limit is less than or equal to 60km/h, the speed(-)limit sign which obtains is general
Rate is the speed(-)limit sign of ring road, and vehicle is still travelled in the main stem of high speed, is prompted at this time without speed limit.
Second, when the path planning function of navigation equipment is opened, navigation equipment is in path planning state, ADAS controls
Comprehensive descision is worked as speed(-)limit sign information by device processed from what picture pick-up device was sent, and comes the current road of self-navigation brain transmission
Whether road type, vehicle will drive into the ring road in path planning, and the distance apart from front ring road.
Fig. 3 shows the flow diagram of another high speed ring road speed limit recognition methods provided in an embodiment of the present invention.Such as
Shown in Fig. 3, which includes：
Step S301 obtains the road information of navigation equipment acquisition, which includes road type, and road type is
Super expressway or non-high-speed road.
Step S302 obtains the speed(-)limit sign information that picture pick-up device is identified from the road image of acquisition, and described in determination
The corresponding camera shooting speed limit of speed(-)limit sign information.
Specifically, above-mentioned steps S301 and step S302 are referred to step S101 and step S102.
Step S303 judges whether above-mentioned road type is super expressway.
If above-mentioned road type is non-high-speed road, S304 is thened follow the steps；
If above-mentioned road type is super expressway, need further to be judged, executes step S305.
Step S304 using above-mentioned camera shooting speed limit as effective speed limit of current vehicle, and is prompted.
Step S305 is monitored and be whether there is ring road prompt message in road information.
When the route that vehicle is planned according to navigation equipment, navigation equipment can send out the ring road that whether enter ring road
Prompt message executes step S306 when ADAS controllers receive the ring road prompt message；If not receiving ring road prompt letter
Breath, needs further to be judged, determining according to camera shooting speed limit and prompt effective speed limit of current vehicle, specifically executes step
Rapid S307.
Step S306 using above-mentioned camera shooting speed limit as effective speed limit of current vehicle, and is prompted；
When receiving ring road prompt message, show that vehicle is ready for entrance ramp, the speed limit that picture pick-up device obtains at this time
The corresponding camera shooting speed limit of mark is the ring road speed limit that will be driven into, and should prompt the ring road speed limit.
Step S307, judges whether above-mentioned camera shooting speed limit is less than or equal to 60Km/h.
When above-mentioned camera shooting speed limit is more than 60Km/h, step S308 is executed；
When above-mentioned camera shooting speed limit is less than or equal to 60Km/h, step S309 is executed.
Step S308 using above-mentioned camera shooting speed limit as effective speed limit of current vehicle, and is prompted.
Specifically, when above-mentioned camera shooting speed limit is more than 60Km/h, show the non-ring road speed limit of speed limit at this time, should be high
The speed(-)limit sign for the main stem speed limit being arranged in speed, and the also non-entrance ramp of vehicle, therefore the speed(-)limit sign should be prompted.
In a possible embodiment, by showing that the camera shooting speed limit is prompted.
Step S309 ignores above-mentioned camera shooting speed limit and without prompt.
Specifically, when above-mentioned camera shooting speed limit is less than or equal to 60km/h, the speed(-)limit sign which obtains is general
Rate is the speed(-)limit sign of ring road, and vehicle is still travelled in the main stem of high speed, and does not have ring road prompt message, i.e., does not enter ring road,
Therefore it is prompted without speed limit.
In conclusion compared with existing fusion mode, data fusion scheme advantage provided by the invention is to avoid using
Speed limit Filling power of the navigation equipment based on road type is reduced road type requirement of real-time and both may be used using new convergence strategy
The image identification function of picture pick-up device can be utilized again to the detection advantage that ring road filters using navigation path planning, intelligence is enhanced
Can speed limiting system to the sensing capability of true environment, overcoming image processing techniques intelligent filtering ring road speed-limiting messages and can not lead
Boat is unable to the problems such as high-accuracy detection speed(-)limit sign.The convergence strategy of picture pick-up device and navigation equipment is improved, realizes vehicle
It then shows that the ring road speed limit, vehicle do not enter ring road and do not show ring road speed limit then into ring road, super expressway circle can be reduced
The wrong report of road speed limit obtains better driving experience.
The high speed ring road for being directed to above-described embodiment description shows that recognition methods, Fig. 4 show that the embodiment of the present invention provides
High speed ring road speed limit identification device, which includes：
Navigate acquisition module 11, and the road information for obtaining navigation equipment acquisition, the road information includes road class
Type, the road type are super expressway or non-high-speed road；
Camera shooting acquisition module 12, the speed(-)limit sign information identified from the road image of acquisition for obtaining picture pick-up device,
And determine the corresponding camera shooting speed limit of the speed(-)limit sign information；
Reminding module 13 is determined, for according to the road information and the camera shooting speed limit, determining and prompting current vehicle
Effective speed limit.
Further, above-mentioned determining reminding module 13 is additionally operable to：
When road type is non-high-speed road, using camera shooting speed limit as effective speed limit of current vehicle, and carried
Show；
It is determining according to camera shooting speed limit and prompt effective speed limit of current vehicle when road type is super expressway.
Further, when the route that vehicle is planned according to the navigation equipment, the determining reminding module 13 is also
For：
When road type is non-high-speed road, using camera shooting speed limit as effective speed limit of current vehicle, and carried
Show；
When road type is super expressway, monitors and whether there is ring road prompt message in road information；
When there are ring road prompt message, using camera shooting speed limit as effective speed limit of current vehicle, and prompted；
It is determining according to camera shooting speed limit and prompt effective speed limit of current vehicle when there is no ring road prompt message.
In technical solution provided in an embodiment of the present invention, merged with navigation detection system using camera detection system
Technology, it is only necessary to judge whether present road type is super expressway according to road information, it is effective to determine in conjunction with camera shooting speed limit
Speed limit is reduced and is wanted to the road type real-time that navigation equipment is sent out without the speed limit Filling power based on road type
It asks, improves the correct recognition rata of ring road speed limit identifying schemes, reduce to exist and fail to report and report risk by mistake, improve the driving of driver
Experience.
Referring to Fig. 5, the embodiment of the present invention also provides a kind of electronic equipment 100, including：Processor 40, memory 41, bus
42 and communication interface 43, the processor 40, communication interface 43 and memory 41 connected by bus 42；Processor 40 is for holding
The executable module stored in line storage 41, such as computer program.
Wherein, memory 41 may include high-speed random access memory (RAM, Random Access Memory),
May further include nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.By at least
One communication interface 43 (can be wired or wireless) realizes the communication between the system network element and at least one other network element
Connection can use internet, wide area network, local network, Metropolitan Area Network (MAN) etc..
Bus 42 can be isa bus, pci bus or eisa bus etc..The bus can be divided into address bus, data
Bus, controlling bus etc..Only indicated with a four-headed arrow for ease of indicating, in Fig. 5, it is not intended that an only bus or
A type of bus.
Wherein, memory 41 is for storing program, and the processor 40 executes the journey after receiving and executing instruction
Sequence, the method performed by device that the stream process that aforementioned any embodiment of the embodiment of the present invention discloses defines can be applied to handle
In device 40, or realized by processor 40.
Processor 40 may be a kind of IC chip, the processing capacity with signal.During realization, above-mentioned side
Each step of method can be completed by the integrated logic circuit of the hardware in processor 40 or the instruction of software form.Above-mentioned
Processor 40 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network
Processor (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal
Processing, abbreviation DSP), application-specific integrated circuit (Application Specific Integrated Circuit, referred to as
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or other are programmable
Logical device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute in the embodiment of the present invention
Disclosed each method, step and logic diagram.General processor can be microprocessor or the processor can also be to appoint
What conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be embodied directly in hardware decoding processing
Device executes completion, or in decoding processor hardware and software module combination execute completion.Software module can be located at
Machine memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable memory, register etc. are originally
In the storage medium of field maturation.The storage medium is located at memory 41, and processor 40 reads the information in memory 41, in conjunction with
Its hardware completes the step of above method.
High speed ring road speed limit identification device and electronic equipment provided in an embodiment of the present invention, the height provided with above-described embodiment
Fast ring road speed limit recognition methods technical characteristic having the same reaches identical skill so can also solve identical technical problem
Art effect.
The computer program product for the carry out high speed ring road speed limit recognition methods that the embodiment of the present invention is provided, including storage
The computer readable storage medium of the executable non-volatile program code of processor, the instruction that said program code includes can
For executing the method described in previous methods embodiment, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
And the specific work process of electronic equipment, it can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
Flow chart and block diagram in attached drawing show multiple embodiment method and computer program products according to the present invention
Architecture, function and operation in the cards.In this regard, each box in flowchart or block diagram can represent one
A part for module, section or code, the part of the module, section or code include it is one or more for realizing
The executable instruction of defined logic function.It should also be noted that in some implementations as replacements, the work(marked in box
Can also can in a different order than that indicated in the drawings it occur.For example, two continuous boxes can essentially be substantially parallel
Ground executes, they can also be executed in the opposite order sometimes, this is depended on the functions involved.It is also noted that block diagram
And/or the combination of each box in flow chart and the box in block diagram and or flow chart, work(as defined in executing can be used
Can or the dedicated hardware based system of action realize, or can come using a combination of dedicated hardware and computer instructions real
It is existing.
In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase
To importance.Unless specifically stated otherwise, the opposite step of the component and step that otherwise illustrate in these embodiments, digital table
It is not limit the scope of the invention up to formula and numerical value.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
A kind of division of logic function, formula that in actual implementation, there may be another division manner, in another example, multiple units or component can combine
Or it is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed phase
Coupling, direct-coupling or communication connection between mutually can be by some communication interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer read/write memory medium of a processor.Based on this understanding, of the invention
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention
State all or part of step of method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with
Store the medium of program code.
Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of high speed ring road speed limit recognition methods, which is characterized in that including：
The road information of navigation equipment acquisition is obtained, the road information includes road type, and the road type is high speed road
Road or non-high-speed road；
The speed(-)limit sign information that picture pick-up device is identified from the road image of acquisition is obtained, and determines the speed(-)limit sign information pair
The camera shooting speed limit answered；
According to the road information and the camera shooting speed limit, effective speed limit of current vehicle is determined and prompted.
2. according to the method described in claim 1, it is characterized in that, described according to the road information and the camera shooting speed limit
Value, determines that effective speed limit of current vehicle includes：
When the road type is non-high-speed road, using the camera shooting speed limit as effective speed limit of current vehicle, go forward side by side
Row prompt；
When the road type is super expressway, according to the effective limit for imaging speed limit determination and prompting current vehicle
Speed.
3. according to the method described in claim 1, it is characterized in that, working as the path that the vehicle is planned according to the navigation equipment
When driving, described according to the road type and the camera shooting speed limit, it determines and prompts effective speed limit of current vehicle to include：
When the road type is non-high-speed road, using the camera shooting speed limit as effective speed limit of current vehicle, go forward side by side
Row prompt；
When the road type is super expressway, monitors and whether there is ring road prompt message in the road information；
When there are the ring road prompt message, using the camera shooting speed limit as effective speed limit of current vehicle, and carried
Show；
When there is no the ring road prompt message, according to the effective limit for imaging speed limit determination and prompting current vehicle
Speed.
4. according to the method in claim 2 or 3, which is characterized in that described to determine current vehicle according to the camera shooting speed limit
Effective speed limit include：
When the camera shooting speed limit is more than 60Km/h, using the camera shooting speed limit as effective speed limit of current vehicle, go forward side by side
Row prompt；
When the camera shooting speed limit is less than or equal to 60Km/h, ignore the camera shooting speed limit and without prompt.
5. according to the method described in claim 1, it is characterized in that, the mode prompted effective speed limit includes voice
Prompt and/or picture and text prompt.
6. a kind of high speed ring road speed limit identification device, which is characterized in that including：
Navigate acquisition module, and the road information for obtaining navigation equipment acquisition, the road information includes road type, described
Road type is super expressway or non-high-speed road；
Acquisition module, the speed(-)limit sign information identified from the road image of acquisition for obtaining picture pick-up device are imaged, and is determined
The corresponding camera shooting speed limit of the speed(-)limit sign information；
Reminding module is determined, for according to the road information and the camera shooting speed limit, determining and prompting having for current vehicle
Imitate speed limit.
7. device according to claim 6, which is characterized in that the determining reminding module is additionally operable to：
When the road type is non-high-speed road, using the camera shooting speed limit as effective speed limit of current vehicle, go forward side by side
Row prompt；
When the road type is super expressway, according to the effective limit for imaging speed limit determination and prompting current vehicle
Speed.
8. device according to claim 6, which is characterized in that when the path that the vehicle is planned according to the navigation equipment
When driving, the determining reminding module is additionally operable to：
When the road type is non-high-speed road, using the camera shooting speed limit as effective speed limit of current vehicle, go forward side by side
Row prompt；
When the road type is super expressway, monitors and whether there is ring road prompt message in the road information；
When there are the ring road prompt message, using the camera shooting speed limit as effective speed limit of current vehicle, and carried
Show；
When there is no the ring road prompt message, according to the effective limit for imaging speed limit determination and prompting current vehicle
Speed.
9. a kind of electronic equipment, including memory, processor, be stored on the memory to run on the processor
Computer program, which is characterized in that the processor realizes that the claims 1 to 5 are any when executing the computer program
Method described in.
10. a kind of computer-readable medium for the non-volatile program code that can perform with processor, which is characterized in that described
Program code makes the processor execute the method described in any one of claim 1 to 5.
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| CN201810268113.8A CN108520634A (en) | 2018-03-28 | 2018-03-28 | The recognition methods of high speed ring road speed limit, device and electronic equipment |
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|---|---|---|---|
| CN201810268113.8A CN108520634A (en) | 2018-03-28 | 2018-03-28 | The recognition methods of high speed ring road speed limit, device and electronic equipment |
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| 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 |
| 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 |
| CN110310499A (en) * | 2019-05-15 | 2019-10-08 | 福瑞泰克智能系统有限公司 | A kind of method and device of ring road speed limit identification |
| CN110660258A (en) * | 2019-08-23 | 2020-01-07 | 福瑞泰克智能系统有限公司 | Reminding method and device for automatically driving automobile |
| CN111210541A (en) * | 2018-11-22 | 2020-05-29 | 上海擎感智能科技有限公司 | Vehicle, vehicle equipment and intelligent speed limit information prompting method |
| CN111325970A (en) * | 2018-12-14 | 2020-06-23 | 沈阳美行科技有限公司 | Road speed limit prompting method and device and related equipment |
| CN111353351A (en) * | 2018-12-24 | 2020-06-30 | 观致汽车有限公司 | Method and device for determining whether a vehicle traveling on a main road enters a ramp |
| 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 |
| CN112896160A (en) * | 2019-12-02 | 2021-06-04 | 华为技术有限公司 | Traffic sign information acquisition method and related equipment |
| 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 |
| CN115100870A (en) * | 2022-08-24 | 2022-09-23 | 北京百度网讯科技有限公司 | Speed limit sign verification method, automatic driving method and device and electronic equipment |
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| 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 |
| 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 |
| 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: 20180911 |