CN108573611B - Speed limit sign fusion method and speed limit sign fusion system - Google Patents
Speed limit sign fusion method and speed limit sign fusion system Download PDFInfo
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- 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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
Abstract
The invention relates to a speed limit sign fusion method and a speed limit sign fusion system. The method comprises the following steps: a first speed limit obtaining step, namely obtaining road speed limit information from map navigation information as first speed limit information; a second speed limit obtaining step, namely identifying the road speed limit information as second speed limit information by using a camera; a third speed limit obtaining step, wherein vehicle motion information in the radar sensing environment is used for obtaining third speed limit information; and a fusion step of fusing one or more of the first speed limit information, the second speed limit information and the third speed limit information to be output as current speed limit information. According to the invention, more accurate current speed limit information can be obtained.
Description
Technical Field
The invention relates to a vehicle control technology, in particular to a speed limit sign fusion method and a speed limit sign fusion system.
Background
The current longitudinal control of automatic driving can control the highest speed limit of the running of an automobile according to map data and speed limit identification information captured by a camera.
For example, patent application CN105160919A discloses a speed limit identification method and system. The speed limit identification method comprises the following steps: acquiring an image through a vehicle-mounted camera; searching speed limit data matched with the image according to a pre-established road speed limit sign database; if the matched speed limit data is found, acquiring the current vehicle running speed and sending an overspeed alarm according to the speed limit data to prompt a driver; if the matched speed limit data is not found, uploading the image to a server through a wireless network for identification; and acquiring the speed limit data successfully identified by the server, and updating the speed limit data to the road speed limit sign database.
However, the map data has the defects of untimely updating and inaccurate identification caused by the fact that a camera is easily affected by weather, mark fouling and the like, so that the acquired real-time speed limit is not matched with the current running road.
Disclosure of Invention
In view of the above problems, the present invention is directed to a speed limit sign fusion system and a speed limit sign fusion method capable of accurately acquiring speed limit sign information of a road.
In order to solve the problems, the vehicle in the invention is based on map data and road speed limit identification information captured by a camera, and millimeter wave radar is added to detect the motion information of surrounding running vehicles so as to confirm the reasonable road speed limit of the current road. Although the camera can also provide the motion information of the front vehicle, the detection quantity is limited, the precision of the motion information is not as good as that of a millimeter wave radar, and certain untimely and inaccurate exist between the map information and the speed limit identification information of the camera, so that the obtained speed limit environment vehicle speed is not matched.
The speed limit sign fusion method is characterized by comprising the following steps of:
a first speed limit obtaining step of obtaining road speed limit information from map navigation information as first speed limit information by using a navigation device;
a second speed limit obtaining step, namely identifying the road speed limit information as second speed limit information by using a camera;
a third speed limit obtaining step, wherein vehicle motion information in the radar sensing environment is used for obtaining third speed limit information; and
and a fusion step of fusing one or more of the first speed limit information, the second speed limit information and the third speed limit information to be used as current speed limit information and outputting the current speed limit information.
Optionally, setting a priority of fusion in the fusing step,
the fusion priority is that one of the first speed limit information, the second speed limit information and the third speed limit information is fused and arbitrated as the current speed limit information, the second level is that the first speed limit information and the second speed limit information are fused and arbitrated as the current speed limit information, and the first level is that the first speed limit information or the second speed limit information is used as the current speed limit information.
Optionally, in the third speed limit obtaining step, the motion information of the vehicle ahead of the running direction of the vehicle is detected as third speed limit information.
Optionally, in the third speed limit obtaining step, the front of the running direction of the vehicle is collected and divided into a plurality of areas, the longitudinal direction and the transverse direction are respectively represented by separate weights,
wherein, the transverse weight takes the vehicle in front of the vehicle as a main reference object, the weight is larger, the vehicles on two lanes are auxiliary reference objects, if a plurality of lanes exist, the weight is gradually reduced towards two sides,
the longitudinal weight is along the direction of the lane line, the weight value of the vehicle close to the vehicle is larger, and the weight value is reduced along with the increase of the distance from the vehicle.
Alternatively, the movement speed v of the vehicle ahead of the running direction of the host vehicle is calculated as the third speed limit information according to the following formula,
wherein the content of the first and second substances,
the vehicle speed of a certain reference vehicle,
The speed limit sign fusion system according to an aspect of the present invention includes:
the navigation device is used for acquiring road speed limit information from the map navigation information as first speed limit information;
the camera is used for identifying the road speed limit information as second speed limit information;
the radar device is used for sensing vehicle motion information in the environment and calculating the vehicle motion information to obtain third speed limit information; and a fusion device for fusing one or more of the first speed limit information, the second speed limit information, and the third speed limit information to output current speed limit information.
Optionally, a priority of fusion is set in the fusion device,
the merged priority is that one of the first speed limit information, the second speed limit information and the third speed limit information is merged and arbitrated as the current speed limit information, the second level is that the first speed limit information and the second speed limit information are merged and arbitrated as the current speed limit information, and the first level is that the first speed limit information or the second speed limit information is taken as the current speed limit information.
Optionally, the radar apparatus comprises:
a radar for detecting a moving speed of a vehicle ahead of a running direction of the own vehicle; and
and the calculating module is used for calculating the motion speed of the detected front vehicle and using the motion speed as third speed limit information.
Optionally, the front of the running direction of the vehicle collected by the radar is divided into a plurality of areas,
the calculation module is respectively represented by independent weights in the longitudinal direction and the transverse direction, wherein the transverse weight takes a vehicle in front of the vehicle as a main reference object, the weight value is larger, vehicles on lanes on two sides are auxiliary reference objects, if a plurality of lanes exist, the weight value is gradually reduced towards two sides, the longitudinal weight takes the direction along a lane line, the weight value of the vehicle close to the vehicle is larger, and the weight value is reduced along with the increase of the distance from the vehicle.
Optionally, the calculating module calculates a moving speed v of a vehicle ahead of the running direction of the vehicle as the third speed limit information according to the following formula,
wherein the content of the first and second substances,
the vehicle speed of a certain reference vehicle,
The computer-readable medium of the present invention, on which a computer program is stored, is characterized in that the computer program, when being executed by a processor, implements the speed limit sign fusion method.
The computer equipment comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and is characterized in that the processor realizes the steps of the speed limit sign fusion method when executing the computer program.
The invention provides a method for determining the reasonable road speed limit of the current road by using the vehicle to detect the motion information of the vehicles running around by adding radar on the basis of navigation map data and road speed limit identification information captured by a camera. Therefore, certain untimely and inaccurate existing between the map information and the camera speed limit identification information can be eliminated, the obtained speed limit information is prevented from being mismatched with the environmental speed, and safer real-time speed limit of the current environment can be determined by tracking and identifying the speed of other vehicles currently participating in traffic and fusing the speed limit information with the map data and the speed limit data fused by the camera.
Drawings
Fig. 1 is a flowchart showing a speed limit sign fusion method according to an embodiment of the present invention.
Fig. 2 is a diagram showing the priority of fusion.
Fig. 3 shows a schematic diagram for detecting the speed of a vehicle in front of the vehicle.
Fig. 4 is a schematic configuration diagram showing a speed limit sign fusion system according to an embodiment of the present invention.
Detailed Description
The following description is of some of the several embodiments of the invention and is intended to provide a basic understanding of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.
In the invention, the vehicle takes map data and road speed limit identification information captured by a camera as the basis, and a millimeter wave radar is added to detect the motion information of surrounding running vehicles so as to confirm the reasonable road speed limit of the current road. Although the camera can also provide the motion information of the front vehicle, the detection quantity is limited and the precision of the motion information is not as good as that of the millimeter wave radar. Certain timeliness and inaccuracy exist between the map information and the camera speed limit identification information, so that the speed limit given by the map information and the camera speed limit identification information is not matched with the environmental vehicle speed (namely, the speed limit given by the camera or the map is possibly wrong and is not matched with the current traffic flow speed). By tracking and identifying the speed of other vehicles currently participating in traffic and fusing the speed with the speed limiting data fused with the map data and the camera, safer and more accurate real-time speed limiting under the current environment can be determined.
Next, a speed limit sign fusion method according to an embodiment of the present invention will be described.
Fig. 1 is a flowchart showing a speed limit sign fusion method according to an embodiment of the present invention.
As shown in fig. 1, a speed limit sign fusion method according to an embodiment of the present invention includes the following steps:
a first speed limit acquisition step S100: acquiring road speed limit information from map navigation information by using a navigation device as first speed limit information;
a second speed limit acquisition step S200: recognizing road speed limit information as second speed limit information by using a camera;
third speed limit acquisition step S300: sensing vehicle motion information in the environment by using a radar and calculating to obtain third speed limit information, for example, calculating the third speed limit information based on the speeds of other vehicles around the vehicle; and
a fusion step S400: and fusing one or more of the first speed limit information, the second speed limit information and the third speed limit information to be used as current speed limit information and outputting the current speed limit information.
In the merging step S400, a merging priority is set in the merging step S400, the merging priority is that one of the first speed limit information, the second speed limit information, and the third speed limit information is merged and arbitrated as current speed limit information optimally, the second level is that one of the first speed limit information and the second speed limit information is merged and arbitrated as current speed limit information, and the first level is that the first speed limit information or the second speed limit information is used as current speed limit information.
The fusion focuses on the matching and verification of data, for example, by comparing the traffic flow speed with the camera or map data, assuming that the data reliability of the camera is the highest, the obtained speed limit also needs to be compared with the traffic flow speed (which means that the traffic flow speed exists). And, the fusion in this context is to select one speed from three or two speeds as the speed limit (instead of calculating three or two speeds to obtain one speed limit). For example, in the case where the speed limit is acquired by the camera through the road sign, the speed limit of the sign acquired by the camera is considered to be the most accurate. However, considering that the camera also has a wrong or inaccurate acquisition, the accuracy of the identification speed limit acquired by the camera is proved by the map speed limit (if any) and the traffic flow speed measured by millimeter radar waves. For example, if the speed limit obtained by the camera is 30 km/h, but the traffic speed measured by the radar wave is 70 km/h, at this time, it can be almost determined that there is a problem with the speed limit obtained by the camera, and meanwhile, it is found that the speed limit of the map data is 80 km/h, and in this case, it is immediately determined that the map speed limit is 80 km/h, which is an accurate speed limit. Fig. 2 is a diagram showing the priority of fusion.
As shown in fig. 2, in step S10, it is determined whether the navigation device, the camera, and the radar are all available, and if all are available, the process proceeds to step S11, otherwise, the process proceeds to step S13.
In step S11, the speed of the vehicle around the host vehicle is sensed by the radar and calculated as third speed limit information.
In step S12, the speed information obtained by the radar, the camera, and the navigation device is fused.
In step S13, it is determined whether the camera and the navigation device are available, and if both are available, the process proceeds to step S14, otherwise, the process proceeds to step S15.
In step S14, the speed limit information obtained by the camera and the navigation device is fused.
In step S15, it is determined whether only a camera is available, and if only a camera is available, the process proceeds to step S16, otherwise, the process proceeds to step S17.
In step S16, only the speed limit information acquired by the camera is used.
In step S17, it is determined whether only the navigation device is available, and if only the navigation device is available, the flow proceeds to step S18, otherwise the flow ends.
Next, the third speed limit acquisition step S300 will be specifically described. In the third speed limit obtaining step S300, the vehicle motion information in the environment is sensed by using the radar and calculated as the third speed limit information.
Specifically, in the third speed limit acquisition step S300, the speed of the vehicle divided into a plurality of regions ahead of the running direction of the vehicle is acquired.
FIG. 3 shows a schematic diagram of capturing the speed of multiple zones in front of a vehicle.
In fig. 3, three vehicles representing the front 3 areas of the host vehicle (the lowest vehicle in the figure) are a vehicle located directly in front of the host vehicle in the same lane (lane c) as the host vehicle, a vehicle located in front of the host vehicle on the left side (lane r), and a vehicle located in front of the host vehicle on the right side (lane c).
The longitudinal direction and the transverse direction are respectively represented by independent weights, the transverse weight takes a vehicle in front of the vehicle as a main reference object, the weight value is larger, vehicles on two lanes are auxiliary reference objects, if a plurality of lanes exist, the weight value is gradually reduced towards two sides, the longitudinal weight takes the weight value of a vehicle close to the vehicle along the lane line direction as larger, and the weight value is reduced along with the increase of the distance from the vehicle.
Specifically, the movement speed v of the vehicle ahead of the running direction of the host vehicle is calculated as the third speed limit information according to the following formula,
wherein the content of the first and second substances,
the vehicle speed of a certain reference vehicle,
The speed limit sign fusion method according to an embodiment of the present invention is described above. Next, a speed limit sign fusion system according to an embodiment of the present invention will be described.
Fig. 4 is a schematic configuration diagram showing a speed limit sign fusion system according to an embodiment of the present invention.
As shown in fig. 4, a speed limit sign fusion system according to an embodiment of the present invention includes:
a navigation device 100 for acquiring road speed limit information from the map navigation information as first speed limit information;
the camera 200 is used for identifying the road speed limit information as second speed limit information;
the radar device 300 is used for sensing vehicle motion information in the environment and calculating the vehicle motion information to obtain third speed limit information; and
and a fusion device 400 for fusing one or more of the first speed limit information, the second speed limit information, and the third speed limit information to output current speed limit information.
Wherein, radar apparatus 300 includes:
a radar 310 for detecting a moving speed of a vehicle ahead of a running direction of the own vehicle; and
and the calculating module 320 is used for calculating the motion speed of the detected front vehicle and using the motion speed as third speed limit information. For the accuracy of detection in the present invention, for example, millimeter wave radar may be employed.
The radar 310 collects, for example, a front portion of the traveling direction of the host vehicle and divides the front portion into a plurality of regions. The calculating module 320 represents the vehicle ahead of the vehicle as a main reference object, and the weight value is larger, the vehicles in the lanes at two sides as auxiliary reference objects, if there are multiple lanes, the weight value is gradually reduced towards two sides, and the longitudinal weight is larger along the lane line direction, and the weight value of the vehicle close to the vehicle is reduced along with the increase of the distance from the vehicle. The calculation module 320 calculates the movement speed v of the vehicle ahead of the running direction of the host vehicle as the third speed limit information according to the following formula,
wherein the content of the first and second substances,
the vehicle speed of a certain reference vehicle,
Furthermore, the fusion device 400 sets a fusion priority, where the fusion priority is to optimally fuse and arbitrate one of the first speed limit information, the second speed limit information, and the third speed limit information as the current speed limit information, the second is to fuse and arbitrate one of the first speed limit information and the second speed limit information as the current speed limit information, and the first or second speed limit information is to be used as the current speed limit information at the first level.
Further, since the output of the fusion device 400 may be, for example, an ACC (adaptive navigation system) or the like that is output to the vehicle, the acquired current speed limit information can be provided to the vehicle adaptive navigation system, which contributes to adaptive navigation based on more accurate current speed limit information.
The invention provides a method for determining the reasonable road speed limit of the current road by using the vehicle to detect the motion information of the vehicles running around by adding radar on the basis of navigation map data and road speed limit identification information captured by a camera. Therefore, certain untimely and inaccurate existing between the map information and the camera speed limit identification information can be eliminated, the obtained speed limit information is prevented from being mismatched with the environmental speed, and safer real-time speed limit of the current environment can be determined by tracking and identifying the speed of other vehicles currently participating in traffic and fusing the speed limit information with the map data and the speed limit data fused by the camera.
The invention also provides a computer readable medium, on which a computer program is stored, wherein the computer program is executed by a processor to implement the speed limit sign fusion method.
Furthermore, the present invention also provides a computer device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and is characterized in that the processor implements the steps of the speed limit sign fusion method when executing the computer program.
The above examples mainly illustrate the speed limit sign fusion system and the speed limit sign fusion method of the present invention. Although only a few embodiments of the present invention have been described in detail, those skilled in the art will appreciate that the present invention may be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (6)
1. A speed limit sign fusion method is characterized by comprising the following steps:
a first speed limit obtaining step of obtaining road speed limit information as first speed limit information by using a navigation device;
a second speed limit obtaining step, namely identifying the road speed limit information as second speed limit information by using a camera;
a third speed limit obtaining step, wherein vehicle motion information in the radar sensing environment is used for obtaining third speed limit information; and
a fusion step of fusing one or more of the first speed limit information, the second speed limit information and the third speed limit information as current speed limit information and outputting the current speed limit information,
in the third speed limit obtaining step, the motion information of the vehicle in front of the running direction of the vehicle is detected as third speed limit information, wherein the front of the running direction of the vehicle is collected and divided into a plurality of areas, the longitudinal direction and the transverse direction are respectively represented by independent weights,
the transverse weight takes a vehicle in front of the vehicle as a main reference object, the weight is larger, vehicles on two lanes are auxiliary reference objects, if a plurality of lanes exist, the weight is gradually reduced towards two sides, the longitudinal weight is along the lane line direction, the weight of the vehicle close to the vehicle is larger, and the weight is reduced along with the increase of the distance from the vehicle.
2. The speed limit sign fusion method according to claim 1,
setting a priority of fusion in the fusing step,
the fusion priority is that one of the first speed limit information, the second speed limit information and the third speed limit information is fused and arbitrated as the current speed limit information, the second level is that the first speed limit information and the second speed limit information are fused and arbitrated as the current speed limit information, and the first level is that the first speed limit information or the second speed limit information is used as the current speed limit information.
3. A speed limit sign fusion system is characterized by comprising:
the navigation device is used for acquiring road speed limit information from the map navigation information as first speed limit information;
the camera is used for identifying the road speed limit information as second speed limit information;
the radar device is used for sensing vehicle motion information in the environment and calculating to obtain third speed limit information; and
a fusion device for fusing one or more of the first speed limit information, the second speed limit information and the third speed limit information as current speed limit information and outputting the current speed limit information,
the radar apparatus includes:
a radar for detecting a moving speed of a vehicle ahead of a running direction of the own vehicle; and
a calculating module for calculating the detected moving speed of the front vehicle and obtaining the third speed limit information,
wherein the front of the running direction of the radar collecting vehicle is divided into a plurality of areas,
the calculation module is respectively represented by independent weights in the longitudinal direction and the transverse direction, wherein the transverse weight takes a vehicle in front of the vehicle as a main reference object, the weight value is larger, vehicles on lanes on two sides are auxiliary reference objects, if a plurality of lanes exist, the weight value is gradually reduced towards two sides, the longitudinal weight takes the direction along a lane line, the weight value of the vehicle close to the vehicle is larger, and the weight value is reduced along with the increase of the distance from the vehicle.
4. The speed limit sign fusion system of claim 3,
the fusion device sets a priority for fusion,
the fusion priority is that one of the first speed limit information, the second speed limit information and the third speed limit information is fused and arbitrated as the current speed limit information, the second level is that the first speed limit information and the second speed limit information are fused and arbitrated as the current speed limit information, and the most level is that the first speed limit information or the second speed limit information is used as the current speed limit information.
5. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the speed limit sign fusion method according to claim 1 or 2.
6. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the speed limit sign fusion method according to claim 1 or 2 when executing the computer program.
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| CN109532845B (en) * | 2018-12-21 | 2020-12-01 | 奇瑞汽车股份有限公司 | Control method and device of intelligent automobile and storage medium |
| CN109598948A (en) * | 2019-01-16 | 2019-04-09 | 谢宝建 | A kind of new vehicle automatic segmentation speed limit solution |
| CN109733399A (en) * | 2019-02-20 | 2019-05-10 | 广州小鹏汽车科技有限公司 | A kind of automatic speed-limiting adjusting method and system |
| CN109849665A (en) * | 2019-03-18 | 2019-06-07 | 奇瑞汽车股份有限公司 | A kind of automobile speed limit control method and system |
| KR20200130888A (en) * | 2019-05-07 | 2020-11-23 | 현대모비스 주식회사 | Method for controlling scc system based on complex information and apparatus for the same |
| CN110962596B (en) * | 2019-12-20 | 2022-04-08 | 奇瑞汽车股份有限公司 | Vehicle speed control method and device of automobile and storage medium |
| CN112466139A (en) * | 2020-11-25 | 2021-03-09 | 重庆长安汽车股份有限公司 | Speed limit fusion method and system based on multiple sensors, vehicle and storage medium |
| CN114084130B (en) * | 2022-01-20 | 2022-04-08 | 深圳宇通智联科技有限公司 | Intelligent vehicle speed control and regulation method |
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