CN101508300B - Vehicle intelligent method capable of automatically recognizing road speed-limit sign - Google Patents

Vehicle intelligent method capable of automatically recognizing road speed-limit sign Download PDF

Info

Publication number
CN101508300B
CN101508300B CN2009100474721A CN200910047472A CN101508300B CN 101508300 B CN101508300 B CN 101508300B CN 2009100474721 A CN2009100474721 A CN 2009100474721A CN 200910047472 A CN200910047472 A CN 200910047472A CN 101508300 B CN101508300 B CN 101508300B
Authority
CN
China
Prior art keywords
speed
stated
image
vehicle
template
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2009100474721A
Other languages
Chinese (zh)
Other versions
CN101508300A (en
Inventor
张秀彬
焦东升
应俊豪
李国芳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jiaotong University
Original Assignee
Shanghai Jiaotong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Jiaotong University filed Critical Shanghai Jiaotong University
Priority to CN2009100474721A priority Critical patent/CN101508300B/en
Publication of CN101508300A publication Critical patent/CN101508300A/en
Application granted granted Critical
Publication of CN101508300B publication Critical patent/CN101508300B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The invention relates to a vehicle intelligent method for automatically identifying road speed limit signs in the technical field of vehicle intellectualization. The vehicle intelligent method comprises the following steps: (1) acquiring road speed limit sign images respectively; (2) establishing speed limit sign template databases; (3) acquiring speed limit sign images; (4) carrying out reinforcement processing on the images and removing noise; (5) determining a searching area of the speed limit signs of the images; (6) transferring a speed limit sign template of a database of a corresponding type so as to carry out matching and identifying calculations; (7) automatically accumulating the template matching rate; (8) judging whether the vehicle is overspeed or not; (9) under the action of a control instruction, automatically limiting the speed of the vehicle within the range of the limit speed, and warning drivers to know limit speed information; and (10) repeating the process from the step (3) to the step (9). The vehicle intelligent method can further improve the automatic and intelligent level in the aspect of guaranteeing the vehicle to run safely, and cannot cause the vehicle to overspeed because of the neglect of the drivers.

Description

Automatically discern the vehicle intelligent method of road stated-speed sign
Technical field
What the present invention relates to is a kind of vehicle intelligent method of technical field of information processing, specifically is a kind of vehicle intelligent method of automatic identification road stated-speed sign.
Background technology
Driving safety for road and vehicle, urban highway and high-grade highway, especially express highway all will be provided with the limiting vehicle speed sign in each highway section, so that remind the vehicle driver to control the speed of a motor vehicle, drive with caution, avoid causing illegal because of hypervelocity even leading to traffic accident.Yet when the place ahead vehicle was comparatively rare, the vehicle driver tended to neglect the driving speed of oneself, the phenomenon of hypervelocity occurs.Although progress along with science and technology, many roads have all been installed the vehicle speed measuring control monitor unit, but from its action effect, basically be to belong to chastening technological means and measure, warn driver's rule that must observe traffic laws by the punishment means, existing road speed measuring and monitoring technology can not send the congenital technical deficiency that information warning obviously exists impersonalityization to the vehicle driver in real time.
This just need be assisted realization by advanced person's technological means, promptly, utilize a kind of advanced person's technology to make all vehicles possess automatic recognition function to each highway section stated-speed sign of highway, simultaneously can be according to the further automatic guidance of realizing Vehicle Speed of Intelligent Recognition function.
Find by prior art documents, China's invention, the patent No. 200510067875.4, patent name is: the turnpike driving omnidistance method of inspection that exceeds the speed limit, a kind of turnpike driving omnidistance method of inspection that exceeds the speed limit is disclosed, " from the entrance of express highway to the exit; the non-electronics base station of testing the speed is installed on the way; obtain and comprise that vehicle is through the time of each electronics base station and the whole information of electronics base station location numbering and vehicle identification information; whole information is passed to the arithmetic processing system in exit; according to known each section distance, extrapolate this car and whether exceed the speed limit." purpose of this patented technology is: " carry out whole process and detect, make the driver no longer have idea of leaving things to chance, abide by chapter speed limit consciousness and strengthened in whole process." three tangible weak points of this patent existence: (1) cost of investment is huge, safeguards, maintains difficulty; (2) famine human-based management is considered as all drivers in the lump " inevitable illegal " person, and has deprived driver's real-time driving condition right to know; (3) increase the weight of the handle illegal work capacity at expressway exit place, cause the vehicle in exit to stop up probably.
Summary of the invention
The objective of the invention is to overcome above-mentioned deficiency of the prior art, a kind of vehicle intelligent method of automatic identification road stated-speed sign is provided, make vehicle can discern all set on road stated-speed signs automatically, exactly at driving process, and according to the stated-speed sign recognition result when chaufeur provides speed-limiting messages, send the speed limit instruction to speed of a motor vehicle operating-controlling mechanism and realize the vehicle automatic speed-limiting.
The present invention is achieved by the following technical solutions,
Concrete steps of the present invention are as follows:
Step 1 makes up hardware system
To vehicle three pinhole cameras are installed, first pinhole cameras is installed on the upper edge center position of vehicle forward sight glass rim, adjusts setting angle, is used to gather the stated-speed sign image that the road front upper place is provided with; Second pinhole cameras is installed on vehicle motor front shroud center position, adjusts setting angle, is used for the stated-speed sign image on the road surface, collection vehicle the place ahead; The 3rd pinhole cameras is installed on the position of right rear cover near right side edge, adjusts setting angle, is used to gather the stated-speed sign image that is arranged on the road right side.
Pinhole cameras of the present invention, its kernel is the field-effect semiconductor image sensor chip, is a kind of field-effect semiconductor imageing sensor, generates black and white image, is called for short the CMOS camera; The outfit optical lens of dolly-out,ing dolly-back, the visual angle is in 20 °.
The principle of work of hardware system is: signal processor is handled in real time to three width of cloth images that three pinhole cameras collect, and identifies the stated-speed sign of current highway section to vehicle ' on image, and converts the speed limit recognition result to control command output; Current vehicle speed is in case during greater than the speed limit identification value, under the effect of control command, speed of a motor vehicle operating-controlling mechanism can reduce the motor vehicle fuel flow in real time, reduce the speed of a motor vehicle, simultaneously the current overspeed condition of alerting drivers.
Step 2 is set up template database
Template database comprises three classes, that is: first kind data bank is used to deposit the urban highway stated-speed sign image template that is arranged on the road front upper place; Second types of database is used for the stated-speed sign image template on the road surface, storage of cars the place ahead; The 3rd types of database is used to deposit the stated-speed sign image template that is arranged on the road right side.
The stored urban highway stated-speed sign of first kind data bank template is faced and is imaged as feature with the Arabic number of band circle;
The stored stated-speed sign image template of second types of database is imaged as feature with boldface type Arabic number forward stravismus;
The stored stated-speed sign image template of the 3rd types of database shows that with the LED that is with circle digital lateral strabismus is imaged as feature;
The data bank of each type all has same database structure, database structure comprises the field variable: stated-speed sign template image, template image frame head code, speed limit numerical value, template matches rate, promptly the record of each bar in the data bank all comprises＜the stated-speed sign template image 〉,＜template image frame head code 〉,＜speed limit numerical value 〉,＜the template matches rate〉data of four field variablees.
The template of three class data banks all adopts the real scene shooting mode that the stated-speed sign image is gathered and extracted; Real scene shooting mode of the present invention is meant to allow the experiment vehicle along urban highway, urban elevated road and express highway existing all stated-speed sign images be gathered in the distance of determining; The distance of determining is meant that camera should grasp suitable shooting distance when gathering the stated-speed sign image, and wherein, 50 meters is to adopt the shooting distance that is equipped with the stated-speed sign optimized image that the visual angle pinhole cameras of dolly-out,ing dolly-back can collect.
Step 3, the collection of stated-speed sign image
Three pinhole cameras timing acquiring are the stated-speed sign image in the visual field separately, and the image that will be collected separately is delivered to signal processor along cooresponding three image transmission paths.Timing acquiring of the present invention is meant, signal processor is determined the time gap Δ t of three each images acquired of pinhole cameras according to the current vehicles moving velocity, and
Δt = L u
In the formula, u is a vehicle current driving speed, the m/s of unit; L is the image sampling spacing, the m of unit, as: get L=10, show that promptly the every interval 10m of vehicle gathers piece image.
Step 4 is carried out intensive treatment and is removed noise image, deposits in buffer area then; Buffer zone is deposited three width of cloth images that three pinhole cameras are gathered at every turn, every width of cloth image has own specific frame head code, the frame head code is represented corresponding pinhole cameras and corresponding types data bank thereof, as: frame head code " 01 ", " 10 ", " 11 " expression institute images acquired respectively from first, second, third pinhole cameras, also represent simultaneously institute's images acquired will be respectively with first, second, third types of database in the stated-speed sign template mate the identification computing.
Step 5 at determining cooresponding stated-speed sign Search Area from the image of different transmission paths, is mated the main Search Area of discerning computing with the near zone of stated-speed sign as template and image.As: from the image of the first image transmission path the stated-speed sign image that may comprise be a kind of Arabic number with circle, signal processor is that the image that distance is gathered about 50m before the car is mated the identification computing, in this type of image, if contain stated-speed sign, then generally with the Arabic number stated-speed sign of the circle position on the upper side that all mediates, therefore can be with the near zone of this position main Search Area as the identification computing.With angle of field is that 20 ° long shot, the CMOS camera of 768 * 576 image resolution ratios are example, consider to prevent the necessary redundancy of omission, the zone that this stated-speed sign drops in the image that is collected is: 192 * 144 pixel regions around the center-point, promptly 192 * 144 pixel regions will be that template and image mate the main Search Area of discerning computing around the center-point.
Step 6 according to the frame head code of image, is transferred the stated-speed sign template of corresponding types data bank, and utilization normalization method rotor inertia method is mated the identification computing;
If stated-speed sign template of being transferred and the stated-speed sign in the present image are realized coupling, then change step 7 over to; Otherwise, from same types of database, transfer next stated-speed sign template and present image and proceed coupling identification computing, if call the coupling that still is unrealized that finishes until template, illustrate and do not have stated-speed sign in the present image, again read next frame head code image, the coupling identification computing of repeating step six.
Stated-speed sign template of the present invention, the record in data bank comprise template matches rate λ Ij, be defined as follows:
λ ij = n ij N i × 100 %
Wherein, λ IjBe the matching rate of j template in the i types of database, N iBeing i, pinhole cameras collected is identified the number of image frames that contains stated-speed sign, n IjFor by the cumulative number of j template matches in the i types of database; λ IjAlong with Vehicle-Miles of Travel is constantly totally upgraded; I=1,2,3, j=1,2 ...; In order to mate the identification computing, at every turn when transferring template, from high template matches rate, secondly be time high template matches rate earlier, and the like, call until all templates and to finish, to the template of identical match rate, call by putting in order, and, coupling identification computing is only carried out at the stated-speed sign Search Area of image, can shorten the time of whole realization coupling identification computing.
Normalization method rotor inertia of the present invention (NMI) method, promptly use rotor inertia notion physically to the barycenter of image definition gray level image and around the rotor inertia of barycenter, provide the rotor inertia of image again around barycenter, the convergent-divergent, rotation and the translation invariant feature that utilize NMI to have are with its recognition feature as object; Specifically be definition gray level image f (x, barycenter (c y) x, c y) as follows:
c x = Σ x = 1 M Σ y = 1 N xf ( x , y ) Σ x = 1 M Σ y = 1 N f ( x , y )
c y = Σ x = 1 M Σ y = 1 N yf ( x , y ) Σ x = 1 M Σ y = 1 N f ( x , y )
Wherein, barycenter (c x, c y) center of gravity of representative image gray scale;
Image is around barycenter (c x, c y) rotor inertia be designated as J:
J = Σ x = 1 M Σ y = 1 N [ ( x , y ) - ( c x , c y ) ] 2 f ( x , y ) = Σ x = 1 M Σ y = 1 N ( ( x - c x ) 2 + ( y - c y ) 2 ) f ( x , y )
According to the barycenter of image and the definition of rotor inertia, can provide gray level image around barycenter (c x, c y) the normalization method rotor inertia be NMI (Normalized Moment of Inertia):
NMI = J m = Σ x = 1 M Σ y = 1 N ( ( x - cx ) 2 + ( y - cy ) 2 ) f ( x , y ) Σ x = 1 M Σ y = 1 N f ( x , y )
Wherein, m = Σ x = 1 M Σ y = 1 N f ( x , y ) Be picture quality, all gray value sums of representative image.
The convergent-divergent that described NMI had, rotation and translation invariant feature are meant the integral area for the given area, can replace integration with summation for digital image, have 7 invariant moments, and they change for translation, rotation and size all is unmodified.
Step 7, each template is every successfully mates once, and signal processor is its accumulative total template matches rate λ automatically Ij, and upgrade this template in data-base recording＜the template matches rate data of field variable.
Step 8 will compare according to limiting vehicle speed value and the current Vehicle Speed that the stated-speed sign image recognition is come out, and judges whether vehicle " exceeds the speed limit ", and speed of a motor vehicle v surpasses speed limit V MThe time, i.e. v-V M＞0, calculate hypervelocity degree α
α = v - V M V M × 100 %
And according to v and the output of α generation control command; Described control command is two octets, and first octet is represented the stated-speed sign discre value, as: " 01111000 " shows that promptly speed limit is " 120km/h "; Whether most significant bit 1 bit representation of second octet exceeds the speed limit, low level 7 bit representation overspeed of vehicle degree, as: on behalf of current vehicle, " 10110010 " promptly exceeded the speed limit 50%.
Step 9, under the effect of control command, speed of a motor vehicle operating-controlling mechanism automatically with speed limit in the speed limit scope, and alerting drivers is grasped speed-limiting messages, is driven with caution.
Step 10, repeating step three is to the process of step 9.
Compared with prior art, the present invention has following beneficial effect: further improving automation and intelligent level aspect the support vehicles driving safety, concrete manifestation, first, can not make vehicle ' hypervelocity phenomenon, its rate of accuracy reached to 99.5% occur because of the carelessness of chaufeur; The second, can obviously reduce road monitoring, handling cost, save economic resources; Three, can significantly reduce the traffic accident that leads to because of overspeed of vehicle; Four, can significantly improve the traffic legal system consciousness of chaufeur, strengthen traffic administration and abide by the law between harmonious atmosphere.
Description of drawings
Fig. 1 is an embodiment of the invention main program system chart;
Fig. 2 is a speed limit landmark identification FB(flow block).
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, 2, discern the vehicle intelligent method of road stated-speed sign among the embodiment automatically, comprise the steps:
Step 1 makes up hardware system, to vehicle three pinhole cameras is installed, and first pinhole cameras is installed on the upper edge center position of vehicle forward sight glass rim, adjusts suitable setting angle, is used to gather the stated-speed sign image that the road front upper place is provided with; Second pinhole cameras is installed on vehicle motor front shroud center position, adjusts suitable setting angle, is used for the stated-speed sign image on the road surface, collection vehicle the place ahead; The 3rd pinhole cameras is installed on the position of right rear cover near right side edge, adjusts suitable setting angle, is used to gather the stated-speed sign image that is arranged on the road right side.
The pinhole cameras of present embodiment is equipped with dolly-out, dolly-back optical lens, black and white CMOS, and the visual angle is in 20 °.
The signal processor of present embodiment comprises: the first image transmission path, the second image transmission path, the 3rd image transmission path, the first image analog-to-digital conversion module, the second image analog-to-digital conversion module, the 3rd image analog-to-digital conversion module, voltage signal analog-to-digital conversion module, image processing module, output interface, memory modules.
The speed of a motor vehicle operating-controlling mechanism of present embodiment comprises: first D and A converter, rectifier diode, power amplifier, electromagnetic valve and electric brake push rod.
The voice prompting device of present embodiment comprises: input interface, decoder, digital voice module, second D and A converter, power amplifier module, loud speaker.
Step 2 is set up template database, comprising: first kind data bank is used to deposit the urban highway stated-speed sign image template that is arranged on the road front upper place; Second types of database is used for the stated-speed sign image template on the road surface, storage of cars the place ahead; The 3rd types of database is used to deposit the stated-speed sign image template that is arranged on the road right side.The data bank of each type all has same database structure, database structure comprises the field variable: stated-speed sign template image, template image frame head code, speed limit numerical value, template matches rate, promptly the record of each bar in the data bank all comprises＜the stated-speed sign template image 〉,＜template image frame head code 〉,＜speed limit numerical value 〉,＜the template matches rate〉data of four field variablees.
Present embodiment adopts the real scene shooting mode to set up template database, that is, allow the experiment vehicle along urban highway, urban elevated road and express highway existing all stated-speed sign images be gathered in the distance of determining.The shooting distance of camera when gathering the stated-speed sign image grasped at 50m.
Step 3, the collection of stated-speed sign image
Three pinhole cameras are gathered the stated-speed sign image in the visual field separately, according to Δt = L u Determine to gather the time gap of stated-speed sign image, as: get L=10m, when u=120km/h, Δ t=0.3s, promptly every interval 300ms gathers piece image; Get L=10m, when u=30km/h, Δ t=1.2s, promptly every interval 1.2s gathers piece image; And the image that will be collected separately is delivered to signal processor along cooresponding three image transmission paths.
Step 4 is carried out intensive treatment and is removed noise image, deposits in buffer area then; Buffer zone is deposited three width of cloth images that three pinhole cameras are gathered at every turn, every width of cloth image has own specific frame head code, wherein, frame head code " 01 ", " 10 ", " 11 " expression institute images acquired be respectively from first, second, third pinhole cameras, also represent simultaneously institute's images acquired will be respectively with first, second, third types of database in the stated-speed sign template mate the identification computing.
Step 5, at determine cooresponding stated-speed sign Search Area from the image of different transmission paths, the definite stated-speed sign Search Area from three pinhole cameras images acquired of process experiment is that 192 * 144 pixel regions possess enough redundancies that prevents the stated-speed sign omission around the center-point.
Step 6 according to the frame head code of image, is transferred the stated-speed sign template of corresponding types data bank, and utilization normalization method rotor inertia method is mated the identification computing; Stated-speed sign template of being transferred and the stated-speed sign in the present image are realized coupling, then change step 7 over to; Otherwise, from same types of database, transfer next stated-speed sign template and present image and proceed coupling identification computing, if call the coupling that still is unrealized that finishes until template, illustrate and do not have stated-speed sign in the present image, again read next frame head code image, the coupling identification computing of repeating step six.
Step 7, each template is every successfully mates once, and signal processor is its accumulative total template matches rate λ automatically Ij, and upgrade this template in data-base recording＜the template matches rate data of field variable.
Step 8 will compare according to limiting vehicle speed value and the current Vehicle Speed that the stated-speed sign image recognition is come out, and judges whether vehicle " exceeds the speed limit ", and speed of a motor vehicle v surpasses speed limit V MThe time, calculate hypervelocity degree α, and generate control command output according to v and α.
Step 9, under the effect of control command, speed of a motor vehicle operating-controlling mechanism automatically with speed limit in the speed limit scope, and alerting drivers is grasped speed-limiting messages, is driven with caution.
Step 10, repeating step three is to the process of step 9.

Claims (6)

1. a vehicle intelligent method of discerning the road stated-speed sign automatically is characterized in that, may further comprise the steps:
Step 1 makes up hardware system, to vehicle three pinhole cameras is installed, and first pinhole cameras is installed on the upper edge center position of vehicle forward sight glass rim, adjusts setting angle, is used to gather the stated-speed sign image that the road front upper place is provided with; Second pinhole cameras is installed on vehicle motor front shroud center position, adjusts setting angle, is used for the stated-speed sign image on the road surface, collection vehicle the place ahead; The 3rd pinhole cameras is installed on the position of right rear cover near right side edge, adjust setting angle, be used to gather the stated-speed sign image that is arranged on the road right side: signal processor is handled in real time to three width of cloth images that three pinhole cameras collect, on image, identify the stated-speed sign of current highway section, and convert the speed limit recognition result to control command output vehicle '; Current vehicle speed is during greater than the speed limit identification value, and under the effect of control command, speed of a motor vehicle operating-controlling mechanism reduces the motor vehicle fuel flow in real time, reduces the speed of a motor vehicle, simultaneously the current overspeed condition of alerting drivers;
Step 2 is set up template database, comprising: first kind data bank is used to deposit the urban highway stated-speed sign image template that is arranged on the road front upper place; Second types of database is used for the stated-speed sign image template on the road surface, storage of cars the place ahead; The 3rd types of database is used to deposit the stated-speed sign image template that is arranged on the road right side;
Step 3, the collection of stated-speed sign image, three pinhole cameras timing acquiring are the stated-speed sign image in the visual field separately; Three pinhole cameras are delivered to signal processor with the image that be collected separately along cooresponding three image transmission paths;
Step 4 is carried out intensive treatment and is removed noise image, deposits in buffer area then; Buffer zone is deposited three width of cloth images that three pinhole cameras are gathered at every turn, and every width of cloth image has own specific frame head code;
Step 5 is at determine cooresponding stated-speed sign Search Area from the image of different transmission paths;
Step 6 according to the frame head code of image, is transferred the stated-speed sign template of corresponding types data bank, and utilization normalization method rotor inertia method is mated the identification computing;
Step 7, the every successfully coupling of each template once, signal processor is its template matches rate λ ij totally automatically, and upgrade this template in data-base recording＜the template matches rate data of field variable;
Step 8 will compare according to limiting vehicle speed value and the current Vehicle Speed that the stated-speed sign image recognition is come out, and judges whether vehicle " exceeds the speed limit ", and speed of a motor vehicle v surpasses speed limit V MThe time, calculate hypervelocity degree α, and generate control command output according to speed of a motor vehicle v and hypervelocity degree α;
Step 9, under the effect of control command, speed of a motor vehicle operating-controlling mechanism automatically with speed limit in the speed limit scope, and alerting drivers is grasped speed-limiting messages, is driven with caution;
Step 10, repeating step three is to the process of step 9.
2. the vehicle intelligent method of automatic identification road stated-speed sign according to claim 1, it is characterized in that, described timing acquiring is meant that signal processor determines the time gap Δ t of three each images acquired of pinhole cameras according to the current vehicles moving velocity, and
Δt = L u
In the formula, u is a vehicle current driving speed, the m/s of unit; L is the image sampling spacing, the m of unit.
3. the vehicle intelligent method of automatic identification road stated-speed sign according to claim 1, it is characterized in that, described frame head code " 01 ", " 10 ", " 11 " are meant institute's images acquired respectively from first, second, third pinhole cameras, also represent simultaneously institute's images acquired will be respectively with first, second, third types of database in the stated-speed sign template mate the identification computing.
4. the vehicle intelligent method of automatic identification road stated-speed sign according to claim 1, it is characterized in that, described at determine cooresponding stated-speed sign Search Area from the image of different transmission paths, specifically be meant, mate the Search Area of discerning computing as template and image with the near zone of stated-speed sign.
5. the vehicle intelligent method of automatic identification road stated-speed sign according to claim 1 is characterized in that, described stated-speed sign template, and the record in data bank comprises template matches rate λ Ij, be defined as follows:
λ ij = n ij N i × 100 %
Wherein, λ IjBe the matching rate of j template in the i types of database, N iBeing i, pinhole cameras collected is identified the number of image frames that contains stated-speed sign, n IjFor by the cumulative number of j template matches in the i types of database; λ IjAlong with Vehicle-Miles of Travel is constantly totally upgraded.
6. the vehicle intelligent method of automatic identification road stated-speed sign according to claim 1, it is characterized in that, described normalization method rotor inertia method, be meant and use rotor inertia notion physically to the barycenter of image definition gray level image and around the rotor inertia of barycenter, provide the rotor inertia of image around barycenter, the convergent-divergent, rotation and the translation invariant feature that utilize the normalization method rotor inertia to be had are with its recognition feature as object.
CN2009100474721A 2009-03-12 2009-03-12 Vehicle intelligent method capable of automatically recognizing road speed-limit sign Expired - Fee Related CN101508300B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009100474721A CN101508300B (en) 2009-03-12 2009-03-12 Vehicle intelligent method capable of automatically recognizing road speed-limit sign

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009100474721A CN101508300B (en) 2009-03-12 2009-03-12 Vehicle intelligent method capable of automatically recognizing road speed-limit sign

Publications (2)

Publication Number Publication Date
CN101508300A CN101508300A (en) 2009-08-19
CN101508300B true CN101508300B (en) 2011-04-06

Family

ID=41000881

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2009100474721A Expired - Fee Related CN101508300B (en) 2009-03-12 2009-03-12 Vehicle intelligent method capable of automatically recognizing road speed-limit sign

Country Status (1)

Country Link
CN (1) CN101508300B (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101761038B (en) * 2009-12-31 2011-09-14 华南理工大学 System and method for recognizing railway temporary speed-limiting sign
CN102314772A (en) * 2010-07-01 2012-01-11 北京中星微电子有限公司 Vehicle over-speed detection method, vehicle over-speed detection device and vehicle over-speed alarm system
CN102136150B (en) * 2011-03-22 2012-10-24 宁波大学 Method for detecting speed limit sign based on image processing technology
CN103786726B (en) * 2012-11-05 2017-04-12 财团法人车辆研究测试中心 Intuitive energy-saving driving assisting method and intuitive energy-saving driving assisting system
CN104103100B (en) * 2013-04-11 2016-04-13 大陆汽车投资（上海）有限公司 Driving behavior analysis system
CN103745241A (en) * 2014-01-14 2014-04-23 浪潮电子信息产业股份有限公司 Intelligent driving method based on self-learning algorithm
JP6251577B2 (en) * 2014-01-17 2017-12-20 矢崎エナジーシステム株式会社 In-vehicle information recording device
US9720411B2 (en) * 2014-02-25 2017-08-01 Ford Global Technologies, Llc Autonomous driving sensing system and method
CN104742903B (en) * 2015-03-13 2019-03-08 小米科技有限责任公司 Realize the method and device of cruise
CN105151045A (en) * 2015-07-31 2015-12-16 小米科技有限责任公司 Vehicle speed limiting method and device
CN106611150A (en) * 2015-10-23 2017-05-03 研勤科技股份有限公司 Speed-limiting sign recognition system and method
CN107878437A (en) * 2016-09-29 2018-04-06 法乐第(北京)网络科技有限公司 Vehicle control system and its method
CN107545244A (en) * 2017-08-09 2018-01-05 上海炬宏信息技术有限公司 Speed(-)limit sign detection method based on image processing techniques
CN107798291B (en) * 2017-09-18 2019-05-10 广州鹰瞰信息科技有限公司 A kind of speed limit index identification method, device and system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004002483A1 (en) * 2004-01-17 2005-08-18 Robert Bosch Gmbh Speed regulating control for vehicle which identifies roadside speed limit signs and with a manual override option for the driver
DE202006007858U1 (en) * 2006-05-15 2006-08-03 Koch, Dieter Detector in vehicle for identifying road or traffic signs and providing an appropriate control signal to an information device or speed regulator
CN201149729Y (en) * 2007-12-28 2008-11-12 四川川大智胜软件股份有限公司 Video traffic sign alarm

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004002483A1 (en) * 2004-01-17 2005-08-18 Robert Bosch Gmbh Speed regulating control for vehicle which identifies roadside speed limit signs and with a manual override option for the driver
DE202006007858U1 (en) * 2006-05-15 2006-08-03 Koch, Dieter Detector in vehicle for identifying road or traffic signs and providing an appropriate control signal to an information device or speed regulator
CN201149729Y (en) * 2007-12-28 2008-11-12 四川川大智胜软件股份有限公司 Video traffic sign alarm

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
JP特开平2-6232A 1990.01.10

Also Published As

Publication number Publication date
CN101508300A (en) 2009-08-19

Similar Documents

Publication Publication Date Title
CN101508300B (en) Vehicle intelligent method capable of automatically recognizing road speed-limit sign
CN105825696B (en) Drive assist system based on signal information prompting
CN106156725A (en) A kind of method of work of the identification early warning system of pedestrian based on vehicle front and cyclist
CN103465857A (en) Mobile-phone-based active safety early-warning method for automobile
CN105185118B (en) A kind of vehicles peccancy detection means and its method based on video detection
CN101508299A (en) Vehicle intelligent device capable of automatically recognizing road speed-limit sign
CN101131321A (en) Real-time safe interval measurement method and device used for vehicle anti-collision warning
CN112700470A (en) Target detection and track extraction method based on traffic video stream
CN108372785A (en) A kind of non-security driving detection device of the automobile based on image recognition and detection method
CN103279741A (en) Pedestrian early warning system based on vehicle-mounted infrared image and working method thereof
CN111452799B (en) Driving behavior evaluation method and system
CN104029680A (en) Lane departure warning system and method based on monocular camera
KR20090030666A (en) High-speed weight in motion
CN111915883A (en) Road traffic condition detection method based on vehicle-mounted camera shooting
CN109827647A (en) A kind of bridge dynamic weighing system
Li et al. An effective crossing cyclist detection on a moving vehicle
CN102975659A (en) Automobile night driving pre-warning system and method based on far infrared image
WO2023286917A1 (en) System and method for detecting both road surface damage and obstacles by using deep neural network, and recording medium in which computer-readable program for executing same method is recorded
CN116818009A (en) Truck overrun detection system and method
CN111444843A (en) Multimode driver and vehicle illegal behavior monitoring method and system
CN112698660B (en) Driving behavior visual perception device and method based on 9-axis sensor
CN210760742U (en) Intelligent vehicle auxiliary driving system
CN106960193A (en) A kind of lane detection apparatus and method
JPS61213998A (en) Car type discriminator
CN101050962A (en) Measuring method for physical characteristic parameter of automobile

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110406

Termination date: 20140312