CN110827558B - Traffic signal lamp recognition device based on vehicle speed, height of highlight area and image - Google Patents
Traffic signal lamp recognition device based on vehicle speed, height of highlight area and image 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
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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- 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
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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Abstract
The invention provides a traffic signal lamp recognition device and method based on speed, height of a highlight area and images, wherein a vehicle-mounted camera pre-photographs images of traffic signal lamps when a vehicle runs at different speeds and stores the images in sub-image libraries of a signal lamp image storage module, and each sub-image library is identified by speed; the method comprises the following steps that a vehicle front image shot by a vehicle-mounted camera of an image real-time acquisition module in the vehicle driving process is acquired, and the image is transmitted to a suspected signal lamp area extraction module; the suspected signal lamp area extracting module receives the image acquired by the image real-time acquiring module, extracts all high-brightness areas of red, yellow and green in the image and judges whether the image is a suspected signal lamp area; the image matching module calls a corresponding sub-image library in the signal lamp image storage module according to the current vehicle running speed fed back by the running speed feedback module, and matches the images in the suspected signal lamp area with the images in the corresponding sub-image library; and the language module receives the matching result of the image matching module and plays a corresponding language prompt to the driver.
Description
The invention is a divisional application, and the original Chinese patent application number is: 201810631218.5, filing date: 6/19/2018, the original application has the patent name: a traffic signal lamp recognition device and method based on images.
Technical Field
The invention belongs to the technical field of image recognition, and particularly relates to a traffic signal lamp recognition device based on vehicle speed, height of a highlight area and an image.
Background
At present, automobile auxiliary driving is in a vigorous development period, and the automobile auxiliary driving means that in an automobile driving project, an electronic device of an automobile auxiliary driving system intelligently identifies a road condition to assist a driver to drive an automobile.
In the driving process of an automobile, an automobile auxiliary driving system is indispensable for identifying road traffic signal lamps, at present, a great amount of existing technologies for identifying the traffic signal lamps exist, and the identification technology of the traffic signal lamps above a suspended road is mature day by day.
However, in some road construction sections, in order to maintain traffic order, a traffic department may set temporary traffic lights beside a road, where the traffic lights are often short and have a height less than 3 meters, and the traffic lights are mixed with light sources such as tail lights of vehicles on the road, so that the vehicle assistant driving system is difficult to correctly identify.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a traffic signal light recognition apparatus based on a vehicle speed, a height of a highlight area, and an image, comprising:
and the driving speed feedback module is used for feeding back the current driving speed of the vehicle in real time when the vehicle is driven, and calculating the current driving speed of the vehicle according to the real-time rotating speed of the wheel shaft and the preset wheel diameter.
The signal lamp image storage module is used for storing traffic signal lamp images which are pre-shot by a vehicle-mounted camera when a vehicle runs at different speeds, the pre-shot traffic signal lamp images are respectively stored in sub-map libraries, and each sub-map library is marked at a speed; the pre-shot traffic light images are respectively shot by taking each 5 kilometers of the vehicle per hour as a gear, averagely dividing the speed range of 0-100 kilometers per hour into 21 gears.
And the image real-time acquisition module is used for acquiring images in front of the vehicle shot by the vehicle-mounted camera in the running process of the vehicle and transmitting the images to the suspected signal lamp area extraction module.
The suspected signal lamp area extraction module is used for receiving the image acquired by the image real-time acquisition module, extracting all red, yellow and green highlight areas in the image, measuring the height of the highlight areas from the road surface, and if the highlight areas with the height larger than the threshold exist, directly defining the highlight areas with the height larger than the threshold as suspected signal lamp areas; if the highlight area with the height smaller than the threshold exists, current road condition information is called from the third-party map, the highlight area is defined as a suspected signal lamp area when the road condition information is a construction road section, and the highlight area is ignored when the road condition information is a non-construction road section; the threshold is 3 meters.
And the third-party map road condition information calling module is used for receiving the instruction of the suspected signal lamp area extracting module, calling the current road condition information from the third-party map and feeding the current road condition information back to the suspected signal lamp area extracting module.
And the image matching module is used for calling a corresponding sub-image library in the signal lamp image storage module according to the current vehicle running speed fed back by the running speed feedback module, matching the image in the suspected signal lamp area with the image in the corresponding sub-image library, defining the image as a traffic signal lamp if the matching is successful, transmitting the result to the language prompt module, and defining the image as a non-traffic signal lamp if the matching is unsuccessful.
And the language prompt module is used for receiving the matching result of the image matching module and playing a corresponding language prompt to the driver.
The invention also provides a traffic signal lamp identification method based on the vehicle speed, the height of the highlight area and the image, which is characterized by comprising the following steps of:
the method comprises the following steps: the vehicle-mounted camera pre-captures traffic signal lamp images when the vehicle runs at different speeds, and stores the traffic signal lamp images in the sub-picture libraries of the signal lamp image storage module, wherein each sub-picture library is marked at a speed; the pre-shot traffic light images are respectively shot by taking each 5 kilometers of the vehicle per hour as a gear, averagely dividing the speed range of 0-100 kilometers per hour into 21 gears.
Step two: in the running process of the vehicle, the image in front of the vehicle is shot by the vehicle-mounted camera of the image real-time acquisition module, and the image is transmitted to the suspected signal lamp area extraction module.
Step three: the suspected signal lamp area extraction module receives the image acquired by the image real-time acquisition module, extracts all red, yellow and green highlight areas in the image, measures the height of the highlight areas from the road surface, and directly defines the highlight areas with the height larger than the threshold value as suspected signal lamp areas if the highlight areas with the height larger than the threshold value exist in the image; if the highlight area with the height smaller than the threshold exists, current road condition information is called from the third-party map, the highlight area is defined as a suspected signal lamp area when the road condition information is a construction road section, and the highlight area is ignored when the road condition information is a non-construction road section; the threshold is 3 meters.
Step four: the driving speed feedback module feeds back the real-time rotating speed of the wheel axle in real time when the vehicle runs, and calculates the current driving speed of the vehicle according to the real-time rotating speed of the wheel axle and the preset wheel diameter.
Step five: the image matching module calls a corresponding sub-image library in the signal lamp image storage module according to the current vehicle running speed fed back by the running speed feedback module, matches the images in the suspected signal lamp area with the images in the corresponding sub-image library, if the matching is successful, the images are defined as traffic signal lamps, the result is transmitted to the language prompt module, and if the matching is unsuccessful, the images are defined as non-traffic signal lamps.
Step six: and the language prompt module receives the matching result of the image matching module and plays a corresponding language prompt to the driver.
Drawings
Fig. 1 is a flowchart of the operation of a traffic signal light recognition apparatus based on vehicle speed, highlight zone height, and image.
Detailed Description
The embodiments are described in detail below with reference to the accompanying drawings.
The working principle of the traffic signal lamp recognition device and method based on the vehicle speed, the height of the highlight area and the image is shown in fig. 1.
The invention provides a traffic signal lamp recognition device based on vehicle speed, height of a highlight area and an image, which comprises:
and the driving speed feedback module is used for feeding back the real-time rotating speed of the wheel axle in real time when the vehicle runs, and calculating the current driving speed of the vehicle according to the real-time rotating speed of the wheel axle and the preset wheel diameter. The measurement and feedback of the running speed are well established in the prior art, and can be calculated by the rotating speed of an axle and the diameter of a wheel.
And the signal lamp image storage module is used for storing traffic signal lamp images which are pre-shot by the vehicle-mounted camera when the vehicle runs at different speeds, the pre-shot traffic signal lamp images are respectively stored in the sub-image libraries, and each sub-image library is marked at a speed.
The images of traffic signal lamps (round red lamps, round yellow lamps, round green lamps, arrow-shaped traffic lamps and the like) shot by the vehicle-mounted camera during the high-speed running of the vehicle can be deformed, in order to identify the traffic lights, the vehicle is driven at different speeds (for example, in a speed range of 0-100 kilometers per hour, one gear is set every 5 kilometers per hour, the speed range of 0-100 kilometers per hour is divided into 21 gears which are respectively 0 kilometer per hour, 5 kilometers per hour and 10 kilometers per hour.10 kilometers.100 kilometers per hour), the traffic light images are pre-captured by the vehicle-mounted camera, and then the pre-captured traffic light images are stored in the traffic light image storage module, and then, storing the pre-shot traffic signal lamp images in sub-image libraries according to different speeds, wherein each sub-image library is marked by the speed.
And the image real-time acquisition module is used for acquiring an image in front of the vehicle shot by the vehicle-mounted camera in the running process of the vehicle and transmitting the image to the suspected signal lamp area extraction module.
And the suspected signal lamp area extraction module is used for receiving the image acquired by the image real-time acquisition module, extracting all red, yellow and green highlight areas in the image and measuring the height of the highlight areas from the road surface.
If a high-brightness area with the height larger than the threshold exists, the high-brightness area with the height larger than the threshold is directly defined as a suspected signal light area. For example, the threshold is set to 3 meters, and since the height of an interference light source such as a general automobile tail light is generally lower than 3 meters, the probability that a highlight area with a height greater than 3 meters is a signal light is high, and the highlight area is directly defined as a suspected signal light area.
And if the highlight area with the height smaller than the threshold exists, calling current road condition information from the third-party map, defining the highlight area as a suspected signal lamp area when the road condition information is a construction road section, and ignoring the highlight area when the road condition information is a non-construction road section. Because for the non-construction road section, the height of the traffic signal lamp is higher, only the temporary traffic signal lamp placed on the construction road section is shorter.
And the third-party map road condition information calling module is used for receiving the instruction of the suspected signal lamp area extracting module, calling the current road condition information from the third-party map and feeding the current road condition information back to the suspected signal lamp area extracting module.
The image matching module is used for calling a corresponding sub-image library in the signal lamp image storage module according to the current vehicle running speed fed back by the running speed feedback module, for example, when the vehicle running speed is 61 kilometers per hour, calling the sub-image library marked as 60 kilometers per hour, matching the images in the suspected signal lamp area with the images in the corresponding sub-image library, if the matching is successful, defining the images as traffic signal lamps, transmitting the result to the language prompt module, and if the matching is unsuccessful, defining the images as non-traffic signal lamps.
And the language prompt module is used for receiving the matching result of the image matching module and playing a corresponding language prompt to the driver.
The work flow of the traffic signal lamp recognition device based on the vehicle speed, the height of the highlight area and the image is as follows:
the method comprises the following steps: the vehicle-mounted camera pre-captures traffic signal lamp images when the vehicle runs at different speeds, and stores the traffic signal lamp images in the sub-map libraries of the signal lamp image storage module, and each sub-map library is identified at a speed.
The images of traffic signal lamps (round red lamps, round yellow lamps, round green lamps, arrow-shaped traffic lamps and the like) shot by the vehicle-mounted camera during the high-speed running of the vehicle can be deformed, in order to identify the traffic lights, the vehicle is driven at different speeds (for example, in a speed range of 0-100 kilometers per hour, one gear is set every 5 kilometers per hour, the speed range of 0-100 kilometers per hour is divided into 21 gears which are respectively 0 kilometer per hour, 5 kilometers per hour and 10 kilometers per hour.10 kilometers.100 kilometers per hour), the traffic light images are pre-captured by the vehicle-mounted camera, and then the pre-captured traffic light images are stored in the traffic light image storage module, and then, storing the pre-shot traffic signal lamp images in sub-image libraries according to different speeds, wherein each sub-image library is marked by the speed.
Step two: in the running process of the vehicle, the image in front of the vehicle is shot by a vehicle-mounted camera of the image real-time acquisition module, and the image is transmitted to the suspected signal lamp area extraction module.
Step three: the suspected signal lamp area extraction module receives the image acquired by the image real-time acquisition module, extracts all red, yellow and green highlight areas in the image, measures the height of the highlight areas from the road surface, and directly defines the highlight areas with the height larger than the threshold value as suspected signal lamp areas if the highlight areas with the height larger than the threshold value exist in the image (for example, the threshold value is set to be 3 meters, and the probability that the highlight areas with the height larger than 3 meters are signal lamps is higher because the height of interference light sources such as general automobile tail lamps is generally lower than 3 meters, and the highlight areas are directly defined as the suspected signal lamp areas); and if the highlight area with the height smaller than the threshold exists, calling current road condition information from the third-party map, defining the highlight area as a suspected signal lamp area when the road condition information is a construction road section, and ignoring the highlight area when the road condition information is a non-construction road section.
Step four: the driving speed feedback module feeds back the real-time rotating speed of the wheel axle in real time when the vehicle runs, and calculates the current driving speed of the vehicle according to the real-time rotating speed of the wheel axle and the preset wheel diameter. The measurement and feedback of the running speed are well established in the prior art, and can be calculated by the rotating speed of an axle and the diameter of a wheel.
Step five: the image matching module calls a corresponding sub-image library in the signal lamp image storage module according to the current vehicle running speed fed back by the running speed feedback module, matches the images in the suspected signal lamp area with the images in the corresponding sub-image library, if the matching is successful, the images are defined as traffic signal lamps, the result is transmitted to the language prompt module, and if the matching is unsuccessful, the images are defined as non-traffic signal lamps.
Step six: and the language prompt module receives the matching result of the image matching module and plays a corresponding language prompt to the driver.
The above embodiments are only preferred embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A traffic signal light recognition device based on vehicle speed, highlight zone height and image, comprising:
the driving speed feedback module is used for feeding back the current driving speed of the vehicle in real time when the vehicle is driven;
the signal lamp image storage module is used for storing traffic signal lamp images which are pre-shot by a vehicle-mounted camera when a vehicle runs at different speeds, the pre-shot traffic signal lamp images are respectively stored in sub-map libraries, and each sub-map library is marked at a speed; the pre-made traffic signal lamp images are respectively made by taking vehicles every 5 kilometers per hour as one gear, averagely dividing the speed range of 0-100 kilometers per hour into 21 gears;
the image real-time acquisition module is used for acquiring images in front of the vehicle shot by the vehicle-mounted camera in the running process of the vehicle and transmitting the images to the suspected signal lamp area extraction module;
the suspected signal lamp area extraction module is used for receiving the image acquired by the image real-time acquisition module, extracting all red, yellow and green highlight areas in the image, measuring the height of the highlight areas from the road surface, and if the highlight areas with the height larger than the threshold exist, directly defining the highlight areas with the height larger than the threshold as suspected signal lamp areas; if the highlight area with the height smaller than the threshold exists, current road condition information is called from the third-party map, the highlight area is defined as a suspected signal lamp area when the road condition information is a construction road section, and the highlight area is ignored when the road condition information is a non-construction road section; the threshold is 3 meters;
the third-party map road condition information calling module is used for receiving the instruction of the suspected signal lamp area extracting module, calling the current road condition information from the third-party map and feeding the current road condition information back to the suspected signal lamp area extracting module;
the image matching module is used for calling a corresponding sub-image library in the signal lamp image storage module according to the current vehicle running speed fed back by the running speed feedback module, matching the image in the suspected signal lamp area with the image in the corresponding sub-image library, if the matching is successful, defining the image as a traffic signal lamp, transmitting the result to the language prompt module, and if the matching is unsuccessful, defining the image as a non-traffic signal lamp;
and the language prompt module is used for receiving the matching result of the image matching module and playing a corresponding language prompt to the driver.
2. The traffic signal lamp recognition device based on the vehicle speed, the height of the highlight area and the image as claimed in claim 1, wherein the driving speed feedback module is configured to feed back the real-time rotation speed of the axle in real time when the vehicle is driving, and calculate the current driving speed of the vehicle according to the real-time rotation speed of the axle and the preset wheel diameter.
3. A traffic signal lamp identification method based on vehicle speed, highlight area height and images is characterized by comprising the following steps:
the method comprises the following steps: the vehicle-mounted camera pre-captures traffic signal lamp images when the vehicle runs at different speeds, and stores the traffic signal lamp images in the sub-picture libraries of the signal lamp image storage module, wherein each sub-picture library is marked at a speed; the pre-made traffic signal lamp images are respectively made by taking vehicles every 5 kilometers per hour as one gear, averagely dividing the speed range of 0-100 kilometers per hour into 21 gears;
step two: in the running process of a vehicle, an image in front of the vehicle is shot by a vehicle-mounted camera of an image real-time acquisition module, and the image is transmitted to a suspected signal lamp area extraction module;
step three: the suspected signal lamp area extraction module receives the image acquired by the image real-time acquisition module, extracts all red, yellow and green highlight areas in the image, measures the height of the highlight areas from the road surface, and directly defines the highlight areas with the height larger than the threshold value as suspected signal lamp areas if the highlight areas with the height larger than the threshold value exist in the image; if the highlight area with the height smaller than the threshold exists, current road condition information is called from the third-party map, the highlight area is defined as a suspected signal lamp area when the road condition information is a construction road section, and the highlight area is ignored when the road condition information is a non-construction road section; the threshold is 3 meters;
step four: the driving speed feedback module feeds back the current driving speed of the vehicle in real time when the vehicle is driven;
step five: the image matching module calls a corresponding sub-image library in the signal lamp image storage module according to the current vehicle running speed fed back by the running speed feedback module, matches the images in the suspected signal lamp area with the images in the corresponding sub-image library, if the matching is successful, defines the images as traffic signal lamps, transmits the result to the language prompt module, and if the matching is unsuccessful, defines the images as non-traffic signal lamps;
step six: and the language prompt module receives the matching result of the image matching module and plays a corresponding language prompt to the driver.
4. The traffic signal lamp identification method based on the vehicle speed, the height of the highlight area and the image as claimed in claim 3, wherein the driving speed feedback module feeds back the real-time rotating speed of the wheel axle in real time when the vehicle is driven, and calculates the current driving speed of the vehicle according to the real-time rotating speed of the wheel axle and the preset wheel diameter.
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