CN110533929B - Vehicle speed limit alarm method based on data fusion - Google Patents
Vehicle speed limit alarm method based on data fusion Download PDFInfo
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- CN110533929B CN110533929B CN201810506754.2A CN201810506754A CN110533929B CN 110533929 B CN110533929 B CN 110533929B CN 201810506754 A CN201810506754 A CN 201810506754A CN 110533929 B CN110533929 B CN 110533929B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/18—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle
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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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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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
- 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
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Abstract
The invention discloses a vehicle speed limit alarm method based on data fusion. The method comprises the following steps: and respectively extracting video speed-limiting data and navigation speed-limiting data from the video system input data and the navigation system input data which are read in real time, judging whether the current road section is an urban road condition or a non-urban road condition, if the current road section is the urban road condition, giving a speed-limiting alarm by mainly using the video speed-limiting data, and if the current road section is the non-urban road condition, giving a speed-limiting alarm by mainly using the navigation speed-limiting data. The invention expands the application range of the speed limit alarm, improves the accuracy of the speed limit alarm, and solves the problems of low alarm accuracy caused by adopting a single video system alarm or a single navigation system in the prior art and inconsistent speed limit values caused by adopting the video system and the navigation system to alarm independently at the same time.
Description
Technical Field
The invention belongs to the technical field of automobile safe driving, and particularly relates to a vehicle speed limit alarming method based on data fusion.
Background
At present, the following three solutions are generally adopted for the automobile speed limit alarm.
And carrying out speed limit alarm based on a vehicle-mounted GPS navigation system (navigation system for short). The principle is that the speed limit value which is corresponding to the GPS positioning position and is collected and stored by a map maker is obtained in real time, the speed limit value is displayed on an instrument and a sound prompt is sent out. The problems with this approach are: if the map data is old, the map data is possibly different from the real speed limit data, and an alarm cannot be given in an area with weak GPS coverage signals.
And carrying out speed limit alarm based on a vehicle-mounted video system (video system for short). The principle is that a high-precision camera arranged on a front windshield is used for obtaining a video image of a speed-limiting plate on a road, and an image processing and character recognition technology is adopted for obtaining a speed-limiting numerical value. The problems with this approach are: because the road speed-limiting plate with complex environment such as suburb roads and the like is not standard, the false recognition or the missing recognition is easily caused. The two speed-limiting alarm modes have respective defects, and the alarm accuracy is below 85%.
And the two methods are adopted for speed limit alarm. The problems with this approach are: the two methods only display the speed limit data independently and perform voice prompt, the speed limit data obtained by the two methods are not fused, and the phenomenon that the alarm data of the two methods are inconsistent often occurs, so that a user is lost and cannot be satisfied.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a vehicle speed limit alarm method based on data fusion.
In order to realize the purpose, the invention adopts the following technical scheme:
a vehicle speed limit alarm method based on data fusion comprises the following steps:
respectively extracting video speed limit data and navigation speed limit data from the video system input data and the navigation system input data which are read in real time;
judging whether the current road section is an urban road condition or a non-urban road condition, wherein the speed-limiting signboard of the urban road condition is more standard than the speed-limiting signboard of the non-urban road condition, and the speed limit of the urban road condition is more than that of the non-urban road condition;
if the current road section is the urban road condition, performing speed limit alarm by taking video speed limit data as a main part; and if the current road section is the non-urban road condition, the navigation speed limit data is taken as the main data to carry out speed limit alarm.
Furthermore, the speed limit alarm mode is one or two of speed limit data displayed by a vehicle-mounted display and speed limit data reported by voice.
Further, the method further comprises:
if the video input data contains a speed limit canceling identifier, for the national speed limit road section, carrying out speed limit alarm by using navigation speed limit data; and for the non-national speed-limit road section, no speed-limit alarm or speed-limit sign cancellation alarm is carried out.
Further, if the urban road condition is adopted, the video speed limit data is mainly used for speed limit alarm, and the method specifically comprises the following steps:
and alarming by video speed limit data within the effective distance of the speed limit sign, and not alarming by speed limit or alarming by navigation speed limit data outside the effective distance of the speed limit sign.
Further, if the road condition is the non-urban road condition, the speed limit alarm is performed mainly by using the navigation speed limit data, and the method specifically comprises the following steps:
if the navigation speed limit data is changed, whether the video speed limit data is changed or not, the navigation speed limit data is used for alarming inside and outside the effective distance of the speed limit sign;
if the navigation speed limit data is not changed, the video speed limit data is used for alarming within the effective distance of the speed limit sign, and the navigation speed limit data is used for alarming outside the effective distance of the speed limit sign.
Compared with the prior art, the invention has the following beneficial effects:
the invention extracts video speed limit data and navigation speed limit data from the video system input data and the navigation system input data which are read in real time respectively, fuses the video speed limit data and the navigation speed limit data, carries out speed limit alarm on urban road conditions with more standard speed limit signs by taking the video speed limit data as the main part, carries out speed limit alarm on non-urban road conditions with less standard speed limit signs by taking the navigation speed limit data as the main part, expands the adaptive range of the speed limit alarm, improves the accuracy of the speed limit alarm, solves the problem of low alarm accuracy caused by adopting a single video system alarm or a single navigation system in the prior art, and solves the problem of inconsistent speed limit values caused by adopting the video system and the navigation system to alarm independently at the same time.
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FIG. 1 is a flow chart of a vehicle speed limit alarm method based on data fusion according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The flow chart of the vehicle speed limit alarming method based on data fusion in the embodiment of the invention is shown in figure 1, and the method comprises the following steps:
in this step, the video system input data and the navigation system input data are read in real time, and the video speed limit data and the navigation speed limit data are extracted from the video system input data and the navigation system input data, respectively. The video system mainly comprises a high-precision camera and a controller which are arranged on a front windshield, wherein the controller carries out image processing and character recognition on a video image of the speed-limiting signboard shot by the camera, and outputs a recognition result containing speed-limiting information (speed-limiting signboard and speed-limiting cancelling signboard) when a vehicle passes through a plane where the speed-limiting signboard is located. And the navigation system, namely a GPS navigation system, outputs the speed limit information which is stored in advance and corresponds to the positioned road section in real time.
the step is mainly used for judging whether the current road section is an urban road condition or a non-urban road condition and preparing for later data fusion. Urban road conditions and non-urban road conditions are not completely distinguished in literal sense: urban roads are urban road conditions, and non-urban roads are non-urban road conditions. The urban road condition refers to a road with a more standard speed limit signboard, such as an urban expressway, an expressway and the like. The speed limit of urban road conditions is high and is generally more than 70 kilometers per hour; the non-urban road condition refers to a road with a less-standard speed limit signboard, such as a suburban road, a rural road and the like with a more complex environment. The speed limit of non-urban road conditions is lower and is generally less than 70 kilometers per hour. Therefore, the road condition of the current road section can be judged by comparing the navigation speed limit with the set speed limit threshold, for example, the road section with the navigation speed limit larger than 70 km/h is judged as the urban road condition, and the road section with the navigation speed limit not larger than 70 km/h is judged as the non-urban road condition.
103, if the current road section is the urban road condition, giving a speed limit alarm by mainly using video speed limit data; and if the current road section is the non-urban road condition, the navigation speed limit data is taken as the main data to carry out speed limit alarm.
The step is based on the fusion of the video speed limit data and the navigation speed limit data to carry out speed limit alarm. Speed limit signboard comparison of urban road conditions is standard, and the accuracy of speed limit data extracted through image processing and character recognition is high; the speed-limiting signboard of the non-urban road condition is not very standard, the phenomenon of error identification or missing identification is easy to occur by adopting image processing and character identification technologies, and for the non-urban road condition (the non-urban road condition with better GPS signal coverage), the accuracy of extracting speed-limiting data by adopting a navigation system is very high. Therefore, when data fusion is carried out, the urban road condition mainly carries out speed-limiting alarm by taking video speed-limiting data as main data, and the non-urban road condition mainly carries out speed-limiting alarm by taking navigation speed-limiting data as main data, so that the advantages and disadvantages can be exploited, and the accuracy of speed-limiting alarm is improved.
The embodiment carries out speed limit alarm based on a data fusion strategy, the urban road condition carries out speed limit alarm mainly by using video speed limit data, the non-urban road condition carries out speed limit alarm mainly by using navigation speed limit data, and compared with the alarm adopting a single video system or a single navigation system, the alarm accuracy can be improved to more than 95 percent from less than 85 percent; compared with the method that the video system and the navigation system are adopted to alarm independently at the same time, the phenomenon that the speed limit values are inconsistent can be avoided, the disturbance degree to the driver can be reduced by reducing the alarm times, and the driver is not lost due to the inconsistent speed limit values.
As an optional embodiment, the speed limit alarm mode is one or two of speed limit data displayed by a vehicle-mounted display and speed limit data reported by voice.
The embodiment provides a specific selectable mode for speed limit alarming, and can adopt single character symbol display or single voice prompt, and also can adopt two modes for alarming.
As an alternative embodiment, the method further comprises:
if the video input data contains a speed limit canceling identifier, for the national speed limit road section, carrying out speed limit alarm by using navigation speed limit data; and for the non-national speed-limit road section, no speed-limit alarm or speed-limit sign cancellation alarm is carried out.
The embodiment provides a technical scheme for canceling speed limit processing. When the video system detects that the traffic signboard of the current road section contains the speed limit canceling sign, if the current road section is not distinguished to be the national speed limit road section, the speed limit is cancelled directly, and for the speed limit road section regulated by the country, the traffic accident may be caused by overspeed of the vehicle due to speed limit canceling. Therefore, the processing method adopted by the embodiment is as follows: when the speed limit mark is detected to be cancelled, judging whether the speed limit road section is a national speed limit road section or not, and if the speed limit road section is not the national speed limit road section, not carrying out speed limit alarm or carrying out speed limit mark cancellation alarm; if the speed limit section is the national speed limit section, the navigation speed limit data is used for carrying out speed limit alarm. The national speed-limited section is a speed-limited region specified by the country: school zone and living zone were 30 km/h; the urban area is 60 km/h; the high speed area is 100 km/h, 120 km/h. Because the input data of the navigation system contains the speed limit information of the areas, whether the current road section is the national speed limit road section or not can be judged by judging whether the input data of the navigation system contains the speed limit information of any one of the areas or not.
As an optional embodiment, if the road condition is an urban road condition, the speed-limiting alarm is performed mainly by using video speed-limiting data, which specifically includes:
and alarming by video speed limit data within the effective distance of the speed limit sign, and not alarming by speed limit or alarming by navigation speed limit data outside the effective distance of the speed limit sign.
The embodiment provides a method for realizing speed limit alarm of urban road conditions by mainly using video speed limit data. The alarm of the speed limit data is mainly carried out when the video system detects that a new speed limit signboard and/or navigation speed limit data are changed or not. The change of the video speed limit data and the navigation speed limit data can be arranged and combined to form a plurality of situations, such as the video speed limit data and the navigation speed limit data are changed, only one is changed, and the like, and the fusion result also comprises a plurality of situations, for example, the video speed limit data or the navigation speed limit data are used for alarming or not alarming in the effective distance of the speed limit mark, so that at least more than dozens of different data fusion modes can be obtained, and even the data fusion mode of speed limit alarming is carried out by mainly using the video speed limit data. Because the video speed limit data and the navigation speed limit data have certain credibility and are respectively long for different road conditions, the advantage contrast between any two different data fusion modes does not exist the condition that one mode is obviously stronger than the other mode. In the embodiment, the video system has higher identification precision for urban road conditions with more standard speed-limiting signboard, so that speed-limiting alarm is performed mainly by video speed-limiting data during data fusion, so that the advantages of the video system can be exerted, and alarm errors caused by long-term non-data updating or weak GPS signals and the like of a navigation system are avoided. As described above, there are many data fusion methods for performing speed limit alarm mainly based on video speed limit data, and this embodiment is only a preferred data fusion method and does not exclude other feasible data fusion methods, and it is within the scope of the present invention to perform speed limit alarm mainly based on video speed limit data.
The data fusion method of this embodiment may be subdivided into a plurality of specific cases according to the changing conditions of the video speed limit data and the navigation speed limit data, for example, as follows:
if the video speed limit data are changed, the navigation speed limit data are changed, the video speed limit data are used for alarming in the effective distance of the speed limit sign, and the navigation speed limit data are used for alarming outside the effective distance of the speed limit sign;
if the video speed limit data are changed and the navigation speed limit data are not changed, alarming is carried out by the video speed limit data within the effective distance of the speed limit sign, and speed limit alarming is not carried out outside the effective distance of the speed limit sign;
if the video speed limit data is not changed, the navigation speed limit data is changed, the video speed limit data is used for alarming in the effective distance of the speed limit sign, and the navigation speed limit data is used for alarming outside the effective distance of the speed limit sign.
The change of the navigation speed limit data can be further divided into various situations of changing/unchanging the effective distance of the speed limit sign and the like, which are not listed one by one.
In this embodiment, the effective distance of the speed limit sign refers to a distance at which speed limit data in the speed limit sign keeps effective; the effective distance of the speed limit sign is within or outside the effective distance of the speed limit sign, which means that the distance of the vehicle passing through the plane where the speed limit sign is located is smaller than or equal to the effective distance of the speed limit sign. The effective distance of the speed limit sign has no uniform regulation and is usually selected according to practical experience. The effective distance of the speed limit sign is related to the size of the speed limit, and the larger the general speed limit is, the larger the effective distance of the speed limit sign is. This is because the vehicle running speed is also high in a road section with a large speed limit, and therefore the larger the speed limit is, the larger the effective distance of the speed limit sign is. The empirical values of the effective distances of the speed limit signs corresponding to different speed limits are shown in table 1.
TABLE 1 empirical values of effective distances of speed limit signs
| Speed limit range (kilometer/hour) | Effective distance of speed limit sign (rice) |
| <20 | 150 |
| [20，30) | 200 |
| [30，40) | 350 |
| [40，50) | 400 |
| [50，70) | 700 |
| [70，80) | 900 |
| ≥80 | 2200 |
In order to better understand the data fusion principle of the present embodiment that the video speed limit data is mainly used for speed limit alarm, a specific example is given below. If the video speed limit and the navigation speed limit are equal at the beginning and are both 80 km/h. Because the speed limit is more than 70 km/h, the current road section can be considered as the urban road condition. After a period of time, the video system detects the speed limit signboard, the speed limit is changed into 100 kilometers per hour, and the navigation speed limit is changed into 110 kilometers per hour. According to table 1, the effective distance of the speed limit sign can be 2200 meters. When the distance of the vehicle passing through the plane where the speed limit signboard is located is less than 2200 meters, alarming at the speed limit of 100 kilometers per hour; and when the distance is more than 2200 meters, alarming at the speed limit of 110 kilometers per hour.
As an optional embodiment, if the road condition is a non-urban road condition, the speed limit alarm is performed mainly by using the navigation speed limit data, which specifically includes:
if the navigation speed limit data is changed, whether the video speed limit data is changed or not, the navigation speed limit data alarms within and outside the effective distance of the speed limit sign;
if the navigation speed limit data is not changed, the video speed limit data is used for alarming in the effective distance of the speed limit sign, and the navigation speed limit data is used for alarming outside the effective distance of the speed limit sign.
The embodiment provides a method for realizing speed limit alarm of non-urban road conditions by taking navigation speed limit data as a main part. In the embodiment, because the video system has lower recognition accuracy for the non-urban road conditions with the speed-limit signboard not very standard, the navigation speed-limit data is mainly used for speed-limit alarm during data fusion, so that alarm errors caused by lower recognition accuracy of the video system can be avoided. Like the previous embodiment, this embodiment is only a better data fusion method, and does not exclude other feasible data fusion methods, and it is within the scope of the present invention to perform speed limit alarm mainly based on navigation speed limit data.
The above description is only for illustrating some specific embodiments of the present invention, but not for the purpose of limiting the scope of the present invention, and all equivalent changes, modifications, or equivalent magnifications or reductions made in accordance with the design spirit of the present invention should be considered as falling within the scope of the present invention.
Claims (3)
1. A vehicle speed limit alarm method based on data fusion is characterized by comprising the following steps:
respectively extracting video speed limit data and navigation speed limit data from the video system input data and the navigation system input data which are read in real time;
judging whether the current road section is an urban road condition or a non-urban road condition, wherein the speed-limiting signboard of the urban road condition is more standard than the speed-limiting signboard of the non-urban road condition, and the speed limit of the urban road condition is more than that of the non-urban road condition;
if the current road section is the urban road condition, performing speed limit alarm by taking video speed limit data as a main part; if the current road section is a non-urban road condition, speed limit alarm is carried out by taking navigation speed limit data as a main part;
if the urban road condition is adopted, the video speed limit data is used as the main part for speed limit alarm, and the method specifically comprises the following steps: alarming by video speed limit data within the effective distance of the speed limit sign, and not alarming by speed limit or alarming by navigation speed limit data outside the effective distance of the speed limit sign;
if the road condition is the non-urban road condition, the navigation speed limit data is taken as the main part to carry out speed limit alarm, and the method specifically comprises the following steps: if the navigation speed limit data is changed, whether the video speed limit data is changed or not, the navigation speed limit data alarms within and outside the effective distance of the speed limit sign; if the navigation speed limit data is not changed, the video speed limit data is used for alarming in the effective distance of the speed limit sign, and the navigation speed limit data is used for alarming outside the effective distance of the speed limit sign.
2. The vehicle speed limit alarm method based on data fusion of claim 1, characterized in that the speed limit alarm mode is one or two of speed limit data displayed by a vehicle-mounted display and speed limit data reported by voice.
3. The vehicle speed limit alarm method based on data fusion of claim 1, characterized in that the method further comprises:
if the video input data contains a speed limit canceling identifier, for the national speed limit road section, carrying out speed limit alarm by using navigation speed limit data; and for the non-national speed-limiting road section, the speed-limiting alarm is not carried out or the speed-limiting sign cancellation alarm is carried out.
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