CN104182760A - Traffic information reading method based on coding traffic sign - Google Patents
Traffic information reading method based on coding traffic sign Download PDFInfo
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- CN104182760A CN104182760A CN201410152376.4A CN201410152376A CN104182760A CN 104182760 A CN104182760 A CN 104182760A CN 201410152376 A CN201410152376 A CN 201410152376A CN 104182760 A CN104182760 A CN 104182760A
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Abstract
The invention relates to a traffic information reading method based on a coding traffic sign. The traffic information reading method comprises the following specific steps: arranging a calibration area and a traffic information area on a traffic sign board, dividing the traffic information area into a plurality of information regions, dividing the information regions into a plurality of information subareas, and assigning each information subarea; drawing a calibrating pattern in the calibration area; forming a standard traffic sign board picture; enabling the corresponding values of the information subareas in the same information region or the sum of the corresponding values of any one information subareas to correspond to one type of traffic information to form a standard list; manufacturing the traffic sign board; shooting the traffic sign board to obtain a real picture; and comparing the real picture with the standard traffic sign board picture to obtain traffic information by combining with the standard list. Traffic sign identification speed and accuracy can be improved, a traffic information integration level is high so as to reduce traffic sign board arrangement amounts, the traffic sign boards are unified, the production and manufacture efficiency of the traffic sign boards are improved so as to lower production cost, and the invention is suitable to widely popularize.
Description
Technical field
The present invention relates to a kind of transport information read method based on coding type traffic sign.
Background technology
Along with social development, automobile has become people's requisite vehicles of going on a journey; But along with increasing of automobile quantity, the safe driving of automobile has become the problem that society very pays close attention to, and the automatic Pilot technology of automobile is also risen gradually.
Existing automatic Pilot, driver assistance are driven and active safety early warning system, proven technique without comparison all also, the technology now adopting is all also to use image recognition technology, image to existing traffic sign is processed, and which has significant limitation: 1, discrimination is very low; 2, the speed of identification is very slow; 3, very high to the technical requirement of identification equipment; 4, None-identified is with the traffic sign of text description.
Summary of the invention
The object of the invention is to address the above problem, and a kind of transport information read method based on coding type traffic sign is provided, and specifically by following technical scheme, is realized:
Be somebody's turn to do the transport information read method based on coding type traffic sign, comprise the steps:
Calibration areas and transport information district are set on traffic mark board, and transport information zoning is divided into some information great Qu, and the large zoning of information is divided into some information subarea, and assignment is carried out in each information subarea; Calibration areas is drawn calibrating pattern; Formation standard traffic mark board picture;
The respective value in the information subarea in same information great Qu or arbitrarily individual information subarea respective value sum is corresponding with a kind of transport information, form standard list;
Make traffic mark board, will after this traffic mark board corresponding part information subarea blacking, be arranged at roadside;
By vehicle-mounted front-facing camera, traffic mark board described in step 3 is taken pictures and obtained entity picture;
Utilize vehicle-mounted microprocessor to search the calibrating pattern in entity picture, and entity picture is rotated and makes entity picture consistent with the attitude of standard pattern in standard traffic mark board picture; According to the size of the calibrating pattern in entity picture, determine the scope in transport information district in entity picture;
Utilize vehicle-mounted microprocessor that the entity picture in step 5 and standard traffic mark board picture transport information district are compared, search in entity picture by the information subarea of blacking; If same information great Qu only has an information subarea by blacking, in standard list, search and the transport information of the respective value in this blacking information subarea is drawn to the transport information that this information great Qu is corresponding; If same information great Qu has the above information of two and two subareas by blacking, after the summation of the respective value in the information subarea of blacking, by searching standard list, drawn transport information corresponding to this information great Qu by this information great Qu is all;
Thereby the transport information of each information great Qu is gathered to the transport information that show that whole Information sign board comprises.
The described transport information read method based on coding type traffic sign, it further designs and is, described traffic mark board is square, and described calibration areas is positioned at the center of traffic mark board, and described calibrating pattern is isosceles and the non-equilateral triangle being inverted in calibration areas.
The described transport information read method based on coding type traffic sign, it further designs and is, described transport information district comprises 4 information great Qu, and these four information great Qu are the nested periphery that is distributed in described calibration areas in the form of a ring and successively, and the information great Qu of making is multiple Back Word shape figure.
The described transport information read method based on coding type traffic sign, it further designs and is, it is 8 information subareas of 8 sections of formation that described information great Qu is cut off respectively, each information subarea is successively by assignment 1,2,4,8,16,32,64,128, the corresponding 256 kinds of transport information of each information great Qu.
The described transport information read method based on coding type traffic sign, it further designs and is, described four information great Qu are corresponding with one-level transport information respectively, and transport information at different levels are respectively the object type, flag information type of transport information institute regulation, the specifying information corresponding with flag information class, the detailed description corresponding with described specifying information.
The described transport information read method based on coding type traffic sign, it further designs and is, described object type comprises all motor vehicles, passenger vehicle, cargo vehicle, three-wheeled motor vehicle, lorry, car, bicycle, motorcycle, pedestrian, motorbus, station wagon, dangerous material car, towed vehicle, tractor, agricultural transportation vehicle, two-wheeled motorcycle, bicycle, animal-drawn vehicle, semiclosed car, totally-enclosed car.
The described transport information read method based on coding type traffic sign, it further designs and is, and described flag information type comprises warning notice; Prohibitory sign; Warning Mark; Fingerpost; Tourist district's sign; Road construction sign; Auxiliary sign; Changeable-message sign.
The described transport information read method based on coding type traffic sign, it further designs and is, and the described specifying information corresponding with flag information type comprises:
1) descriptor of warning notice class: intersection sign; Sharp curve way sign; Double bend first to left sign; Consecutive curve sign; Abrupt slope sign; Narrow road sign; Narrow bridge sign; Two-way traffic sign; Sign watches for pedestrians; Children crossing indicates; Cattle; Caution signal beacon light will; Falling rock indicates; Danger indicates; Easy slide sign will; Brink of precipice sign; Quayside or river bank sign; Village sign; Tunnel sign; Ferry sign; Hump bridge sign; Uneven road sign; Irish bridge sign; Railway crossing sign; Fork-shaped symbol; Slash symbol; Note bicycle sign; Accident is easily sent out section sign; Reduce sign; Attention deficit disorder thing sign; Construction marker; Danger indicates;
2) descriptor of prohibitory sign class: traffic prohibited sign; No entry sign; No left turn indicates; No right turn sign; Forbid the sign of keeping straight on; Forbid the sign that bends to right left; Forbid keeping straight on and turning mark left; Forbid keeping straight on and the sign that bends to right; No turns indicates; Overtaking prohibited sign; Remove overtaking prohibited sign; Forbid storing cycle sign; No horn indicates; Max. Clearance _M. sign; Maximum height limit sign; Restriction quality mark; Axle load limited sign; Maximum speed limit sign; Speed marker lifts restrictions; Parking checking sign; Stop and give way indicates; Sign gives way; Traffic has priority over oncoming vehicle indicates;
3) descriptor of Warning Mark class: the sign of keeping straight on; Turning mark left; Sign bends to right; Craspedodrome and left turning mark; Keep straight on and the sign that bends to right; Left and the sign that bends to right; Road driving sign on the right side; The side that keeps left road driving sign; Grade separation place can keep straight on and turn left sign; The grade separation place sign of can keeping straight on and turn right; Roundabout ahead sign; One way traffic sign left; One way traffic sign to the right; Craspedodrome one way traffic sign; Walking sign; Ring loudspeaker sign; Minimum stated speed sign; The first line flag in main line; The first line flag of meeting; Pedestrian crossing sign; Left lateral driveway travel directions sign; Right lateral driveway travel directions sign; Through Lane travel direction sign; Keep straight on and right-turn lane travel direction sign; Keep straight on and left turn lane travel direction sign; Keep straight on and left/right rotation sweep travel direction sign; Public bus network dedicated Lanes sign; The motor vehicle dedicated Lanes sign that travels; The bicycle dedicated Lanes sign that travels; Sign allows to turn around;
4) descriptor of fingerpost class: railway station; Airport; Parking lot; Long-distance bus station; First-aid station; Ferry Terminal; The scenic spots and historical sites and landscape excursion district; Charge station; Refuelling station; Carwash service; Expressway Service; Service area advance notice sign; Ferry; Subway station; Food and beverage sevice; Motor vehicle repair; The road cunning bulletin sign of going slowly; " steep descent, slow-down " bulletin sign; Foggy Area bulletin sign; Soft Roadbed bulletin sign; Large Vehicles Keep Right bulletin sign; Danger bulletin sign; Eventful spots bulletin sign; Continuous descending bulletin sign; Tunnel bulletin sign; Bulletin sign watches for animals; Dead end bulletin sign; Bulletin sign detours; Directive signs on motorways; Highway terminal advance notice sign; Highway terminal advance notice sign; Next advance exit sign; Advance exit sign; Exit direction; Emergency telephone; Emergency parking; Climbing lane sign; Space confirmation sign; Shunting and interflow induction sign;
5) descriptor of tourist symbol class: tourist district's direction; Tourist district's distance; Visitor information place; On foot; Cableway; Campsite; Campfire; Sports ground; Ride; Fishing; Golf; Diving; Swimming; Diving; Row the boat; Winter excursion district; Skiing; Skating;
6) descriptor of road construction safety notice class: men working; Road ahead closed; The place ahead left road sealing; The place ahead right road sealing; Sealing in the middle of the place ahead; Slow Down; Travel left; To right travel; Change its course left; Change its course to the right; The place ahead is moved construction and is kept to the right; The place ahead is moved construction and is kept to the left;
7) descriptor of auxiliary sign class: part vehicle allows current; Time period allows current; In time period, no through traffic; Special road section sign.
The effect of the invention and advantage: can improve the recognition speed of traffic sign and accuracy; Transport information integrated level is higher, can on a traffic mark board, load multiple transport information, reduces the magnitude setting of traffic mark board; Make traffic mark board unitized, improve it and manufacture efficiency, thereby reduce production costs, suitable extensive popularization.
Accompanying drawing explanation
Fig. 1 is that traffic mark board plane domain is divided schematic diagram.
Fig. 2 is information great Qu assignment schematic diagram.
Fig. 3 is to the schematic diagram after the information subarea blacking value in the great Qu of information shown in Fig. 2.
Fig. 4 is the transport information district schematic diagram in embodiment 1 entity picture.
Fig. 5 is the transport information district schematic diagram in embodiment 2 entity pictures.
Embodiment
Below in conjunction with Figure of description and embodiment, the present invention is further described.
Embodiment 1:
Be somebody's turn to do the transport information read method based on coding type traffic sign, comprise the steps:
As shown in Figure 1, calibration areas 1 and transport information district 2 are set on traffic mark board, transport information zoning is divided into four information great Qu 21, and the large zoning of information is divided into eight information subareas 211, and assignment is carried out in each information subarea; Calibration areas is drawn calibrating pattern 11; Formation standard traffic mark board picture;
The respective value in the information subarea in same information great Qu or arbitrarily individual information subarea respective value sum is corresponding with a kind of transport information, form standard list;
Make traffic mark board, will after this traffic mark board corresponding part information subarea blacking, be arranged at roadside;
By vehicle-mounted front-facing camera, step 3 traffic mark board is taken pictures and obtained entity picture;
Utilize vehicle-mounted microprocessor to search the calibrating pattern in entity picture, and entity picture is rotated and makes entity picture consistent with the attitude of standard pattern in standard traffic mark board picture; According to the size of the calibrating pattern in entity picture, determine the scope in transport information district in entity picture;
Utilize vehicle-mounted microprocessor that the entity picture in step 5 and standard traffic mark board picture transport information district are compared, search in entity picture by the information subarea of blacking; If same information great Qu only has an information subarea by blacking, in standard list, search and the transport information of the respective value in this blacking information subarea is drawn to the transport information that this information great Qu is corresponding; If same information great Qu has the above information of two and two subareas by blacking, after the summation of the respective value in the information subarea of blacking, by searching standard list, drawn transport information corresponding to this information great Qu by this information great Qu is all;
Thereby the transport information of each information great Qu is gathered to the transport information that show that whole Information sign board comprises.
Traffic mark board is square, and calibration areas is positioned at the center of traffic mark board, and calibrating pattern is isosceles and the non-equilateral triangle being inverted in calibration areas.Four information great Qu are the nested periphery that is distributed in calibration areas in the form of a ring and successively, and the information great Qu of making is multiple Back Word shape figure.As shown in Figure 2, information great Qu is cut off respectively and is 8 sections and forms 8 information subareas, and each information subarea is successively by assignment 1,2,4,8,16,32,64,128, the corresponding 256 kinds of transport information of each information great Qu.Schematic diagram while Figure 3 shows that information great Qu value 176.
Four information great Qu are corresponding with one-level transport information respectively, transport information at different levels are followed successively by the object type, flag information type of transport information institute regulation, the specifying information corresponding with flag information type, the detailed description corresponding with specifying information from inside to outside, specific as follows, digital non-Reference numeral in bracket, but the value of this transport information:
1, one-level information---object type: all motor vehicles (1), passenger vehicle (2), cargo vehicle (3), three-wheeled motor vehicle (4), lorry (5), car (6), bicycle (7), motorcycle (8), pedestrian (9), motorbus (10), station wagon (11), dangerous material car (12), towed vehicle (13), tractor (14), agricultural transportation vehicle (15), two-wheeled motorcycle (16), bicycle (17), animal-drawn vehicle (18), semiclosed car (19), totally-enclosed car (20),
2, second-level message---flag information type: warning notice (1); Prohibitory sign (2); Warning Mark (3); Fingerpost (4); Tourist district's sign (5); Road construction sign (6); Auxiliary sign (7); Changeable-message sign (8) etc.
3, three grades of information---the specifying information corresponding with flag information type described: dissimilar sign is described in detail
1) descriptor of warning notice class: intersection sign (1); Sharp curve way sign (2); Double bend first to left sign (3); Consecutive curve sign (4); Abrupt slope sign (5); Narrow road sign (6); Narrow bridge sign (7); Two-way traffic sign (8); Sign (9) watches for pedestrians; Children crossing indicates (10); Cattle (11); Caution signal beacon light will (12); Falling rock indicates (13); Danger indicates (14); Easy slide sign will (15); Brink of precipice sign (16); Quayside or river bank sign (17); Village sign (18); Tunnel sign (19); Ferry sign (20); Hump bridge sign (21); Uneven road sign (22); Irish bridge (or overflow bridge) sign (23); Railway crossing sign (24); Fork-shaped symbol (25); Slash symbol (26); Note bicycle sign (27); Accident is easily sent out section sign (28); Reduce sign (29); Attention deficit disorder thing sign (30); Construction marker (31); Danger indicates (32).
2) descriptor of prohibitory sign class: traffic prohibited sign (1); No entry sign (2); No left turn indicates (3); No right turn sign (4); Forbid the sign (5) of keeping straight on; The sign (6) of forbidding bending to right left; Forbid keeping straight on and turning mark (7) left; Forbid keeping straight on and the sign (8) that bends to right; No turns indicates (9); Overtaking prohibited sign (10); Remove overtaking prohibited sign (11); Forbid storing cycle sign (12); No horn indicates (13); Max. Clearance _M. sign (14); Maximum height limit sign (15); Restriction quality mark (16); Axle load limited sign (17); Maximum speed limit sign (18); Speed marker (19) lifts restrictions; Parking checking sign (20); Stop and give way indicates (21); Sign (22) gives way; Traffic has priority over oncoming vehicle indicates (23).
3) descriptor of Warning Mark class: the sign (1) of keeping straight on; Turning mark (2) left; Sign (3) bends to right; Craspedodrome and left turning mark (4); Keep straight on and the sign (5) that bends to right; Left and the sign (6) that bends to right; Road driving sign (7) on the right side; The side that keeps left road driving sign (8); Grade separation place can keep straight on and turn left sign (9); The grade separation place sign (10) of can keeping straight on and turn right; Roundabout ahead sign (11); One way traffic sign (12) left; One way traffic sign (13) to the right; Craspedodrome one way traffic sign (14); Walking sign (15); Ring loudspeaker signs (16); Minimum stated speed sign (17); The first line flag (18) in main line; The first line flag (19) of meeting; Pedestrian crossing sign (20); Left lateral driveway travel directions sign (21); Right lateral driveway travel directions sign (22); Through Lane travel direction sign (23); Keep straight on and right-turn lane travel direction sign (24); Keep straight on and left turn lane travel direction sign (25); Keep straight on and left/right rotation sweep travel direction sign (26); Public bus network dedicated Lanes sign (27); The motor vehicle dedicated Lanes sign (28) that travels; The bicycle dedicated Lanes sign (29) that travels; Sign (30) allows to turn around.
4) descriptor of fingerpost class: railway station (1); Airport (2); Parking lot (3); Long-distance bus station (4); First-aid station (5); Ferry Terminal (6); The scenic spots and historical sites and landscape excursion district (7); Charge station (8); Refuelling station (9); Carwash service (10); Expressway Service (11); Service area advance notice sign (12); Ferry (13); Subway station (14); Food and beverage sevice (15); Motor vehicle repair (16); The road cunning bulletin sign (17) of going slowly; " steep descent, slow-down " bulletin sign (18); Foggy Area bulletin sign (19); Soft Roadbed bulletin sign (20); Large Vehicles Keep Right bulletin sign (21); Danger bulletin sign (22); Eventful spots bulletin sign (23); Continuous descending bulletin sign (24); Tunnel bulletin sign (25); Bulletin sign (26) watches for animals; Dead end bulletin sign (27); Bulletin sign (28) detours; Directive signs on motorways (29); Highway terminal advance notice sign (30); Highway terminal advance notice sign (31); Next advance exit sign (32); Advance exit sign (33); Exit direction (34); Emergency telephone (35); Emergency parking (36); Climbing lane sign (37); Space confirmation sign (38); Shunting and interflow induction sign (39);
5) descriptor of tourist symbol class: tourist district's direction (1); Tourist district's distance (2); Visitor information place (3); (4) on foot; Cableway (5); Campsite (6); Campfire (7); Sports ground (8); Ride (9); Fishing (10); Golf (11); Diving (12); Swimming (13); Diving (14); Row the boat (15); Excursion district in winter (16); Skiing (17); Skating (18).
6) descriptor of road construction safety notice class: men working (1); Road ahead closed (2); The left road sealing in the place ahead (3); The right road sealing in the place ahead (4); Sealing (5) in the middle of the place ahead; Slow Down (6); Travel left (7); To right travel (8); Change its course left (9); Change its course to the right (10); Keep to the right (11) of constructing are moved in the place ahead; The place ahead is moved construction and is kept to the left.
7) descriptor of auxiliary sign class: part vehicle allows current (1); Time period allows current (2); In time period, no through traffic (3); Special road section sign (4).
The detailed description that level Four information---flag information is described if some information in one, two, three information is not also described complete or is not described clearly, can further illustrate in level Four information.
A certain section sets up one to the speed limit of all motor vehicles, to be the sign board of 80 kilometers/hour, and the description of the one-level information coding of the traffic sign of this coding type above searching learnt and be should be 1; Second-level message coding belongs to the sign of ban class, so secondary coding should be 2; Three grades of information codings belong to the maximum speed limit sign of the sign of ban class, so three grades of codings should be 18; Level Four is encoded, and we can carry out like this: 5 kilometers/hour (1); 10 kilometers/hour (2); 15 kilometers/hour (3); 20 kilometers/hour (4); 25 kilometers/hour (5); 30 kilometers/hour (6); 35 kilometers/hour (7); 40 kilometers/hour (8); 50 kilometers/hour (9); 60 kilometers/hour (10); 70 kilometers/hour (11); 80 kilometers/hour (12); 90 kilometers/hour (13); 100 kilometers/hour (14); 110 kilometers/hour (15); 120 kilometers/hour (16) So we just can to obtain level Four coding should be 12;
The coding of this traffic sign is just 1,2,18,8; Specifically as shown in Figure 4.
Embodiment 2:
As somewhere, set up the sign board of a place ahead 3000 meter You road sealings, the description of the one-level information coding of the traffic sign of this coding type above searching learnt and be should be 1(to all motor vehicles); Second-level message coding belongs to road construction safety notice, so secondary coding should be 6; The three grades of right road sealing in the place ahead signs that information coding belongs to road construction safety notice, so three grades of codings should be 4; Level Four is encoded, and we can carry out like this: 100 meters (1); 200 meters (2); 300 meters (3); 400 meters (4); 500 meters (5); 600 meters (6); 700 meters (7); 800 meters (8); So we just can to obtain level Four coding should be 30;
The coding of this traffic sign is just 1,6,4,30; Its traffic mark board as shown in Figure 5.
Similarly, traffic mark board also can be other shapes, as circle, correspondingly, calibration areas can be arranged on to round central authorities, and information great Qu is for being distributed in the multiple annulus outside calibration areas; In fact, calibration areas also can be arranged on the optional position of traffic mark board, and the number in information subarea and also can arranging arbitrarily as required the assignment in information subarea.
Claims (8)
1. the transport information read method based on coding type traffic sign, is characterized in that comprising the steps:
A, calibration areas and transport information district are set on traffic mark board, transport information zoning is divided into some information great Qu, and the large zoning of information is divided into some information subarea, and assignment is carried out in each information subarea; Calibration areas is drawn calibrating pattern; Formation standard traffic mark board picture;
The respective value in the information subarea in same information great Qu or arbitrarily individual information subarea respective value sum is corresponding with a kind of transport information, form standard list;
Make traffic mark board, will after this traffic mark board corresponding part information subarea blacking, be arranged at roadside;
By vehicle-mounted front-facing camera, traffic mark board described in step 3 is taken pictures and obtained entity picture;
Utilize vehicle-mounted microprocessor to search the calibrating pattern in entity picture, and entity picture is rotated and makes entity picture consistent with the attitude of standard pattern in standard traffic mark board picture; According to the size of the calibrating pattern in entity picture, determine the scope in transport information district in entity picture;
Utilize vehicle-mounted microprocessor that the transport information district in entity picture in step 5 and standard traffic mark board picture is compared, search in entity picture by the information subarea of blacking; If same information great Qu only has an information subarea by blacking, in standard list, search and the transport information of the respective value in this blacking information subarea is drawn to the transport information that this information great Qu is corresponding; If same information great Qu has the above information of two and two subareas by blacking, after the summation of the respective value in the information subarea of blacking, by searching standard list, drawn transport information corresponding to this information great Qu by this information great Qu is all;
Thereby the transport information of each information great Qu is gathered to the transport information that show that whole Information sign board comprises.
2. the transport information read method based on coding type traffic sign according to claim 1, it is characterized in that, described traffic mark board is square, and described calibration areas is positioned at the center of traffic mark board, and described calibrating pattern is isosceles and the non-equilateral triangle being inverted in calibration areas.
3. the transport information read method based on coding type traffic sign according to claim 2, it is characterized in that, described transport information district comprises 4 information great Qu, these four information great Qu are the nested periphery that is distributed in described calibration areas in the form of a ring and successively, and the information great Qu of making is multiple Back Word shape figure.
4. the transport information read method based on coding type traffic sign according to claim 3, it is characterized in that, it is 8 information subareas of 8 sections of formation that described information great Qu is cut off respectively, each information subarea is successively by assignment 1,2,4,8,16,32,64,128, the corresponding 256 kinds of transport information of each information great Qu.
5. the transport information read method based on coding type traffic sign according to claim 4, it is characterized in that, described four information great Qu are corresponding with one-level transport information respectively, and transport information at different levels are respectively the object type, flag information type of transport information institute regulation, the specifying information corresponding with flag information type.
6. the transport information read method based on coding type traffic sign according to claim 5, it is characterized in that, described object type comprises all motor vehicles, passenger vehicle, cargo vehicle, three-wheeled motor vehicle, lorry, car, bicycle, motorcycle, pedestrian, motorbus, station wagon, dangerous material car, towed vehicle, tractor, agricultural transportation vehicle, two-wheeled motorcycle, bicycle, animal-drawn vehicle, semiclosed car, totally-enclosed car.
7. the transport information read method based on coding type traffic sign according to claim 5, is characterized in that, described flag information type comprises warning notice; Prohibitory sign; Warning Mark; Fingerpost; Tourist district's sign; Road construction sign; Auxiliary sign; Changeable-message sign.
8. the transport information read method based on coding type traffic sign according to claim 5, is characterized in that, the described specifying information corresponding with flag information type comprises:
1) descriptor of warning notice class: intersection sign; Sharp curve way sign; Double bend first to left sign; Consecutive curve sign; Abrupt slope sign; Narrow road sign; Narrow bridge sign; Two-way traffic sign; Sign watches for pedestrians; Children crossing indicates; Cattle; Caution signal beacon light will; Falling rock indicates; Danger indicates; Easy slide sign will; Brink of precipice sign; Quayside or river bank sign; Village sign; Tunnel sign; Ferry sign; Hump bridge sign; Uneven road sign; Irish bridge sign; Railway crossing sign; Fork-shaped symbol; Slash symbol; Note bicycle sign; Accident is easily sent out section sign; Reduce sign; Attention deficit disorder thing sign; Construction marker; Danger indicates;
2) descriptor of prohibitory sign class: traffic prohibited sign; No entry sign; No left turn indicates; No right turn sign; Forbid the sign of keeping straight on; Forbid the sign that bends to right left; Forbid keeping straight on and turning mark left; Forbid keeping straight on and the sign that bends to right; No turns indicates; Overtaking prohibited sign; Remove overtaking prohibited sign; Forbid storing cycle sign; No horn indicates; Max. Clearance _M. sign; Maximum height limit sign; Restriction quality mark; Axle load limited sign; Maximum speed limit sign; Speed marker lifts restrictions; Parking checking sign; Stop and give way indicates; Sign gives way; Traffic has priority over oncoming vehicle indicates;
3) descriptor of Warning Mark class: the sign of keeping straight on; Turning mark left; Sign bends to right; Craspedodrome and left turning mark; Keep straight on and the sign that bends to right; Left and the sign that bends to right; Road driving sign on the right side; The side that keeps left road driving sign; Grade separation place can keep straight on and turn left sign; The grade separation place sign of can keeping straight on and turn right; Roundabout ahead sign; One way traffic sign left; One way traffic sign to the right; Craspedodrome one way traffic sign; Walking sign; Ring loudspeaker sign; Minimum stated speed sign; The first line flag in main line; The first line flag of meeting; Pedestrian crossing sign; Left lateral driveway travel directions sign; Right lateral driveway travel directions sign; Through Lane travel direction sign; Keep straight on and right-turn lane travel direction sign; Keep straight on and left turn lane travel direction sign; Keep straight on and left/right rotation sweep travel direction sign; Public bus network dedicated Lanes sign; The motor vehicle dedicated Lanes sign that travels; The bicycle dedicated Lanes sign that travels; Sign allows to turn around;
4) descriptor of fingerpost class: railway station; Airport; Parking lot; Long-distance bus station; First-aid station; Ferry Terminal; The scenic spots and historical sites and landscape excursion district; Charge station; Refuelling station; Carwash service; Expressway Service; Service area advance notice sign; Ferry; Subway station; Food and beverage sevice; Motor vehicle repair; The road cunning bulletin sign of going slowly; " steep descent, slow-down " bulletin sign; Foggy Area bulletin sign; Soft Roadbed bulletin sign; Large Vehicles Keep Right bulletin sign; Danger bulletin sign; Eventful spots bulletin sign; Continuous descending bulletin sign; Tunnel bulletin sign; Bulletin sign watches for animals; Dead end bulletin sign; Bulletin sign detours; Directive signs on motorways; Highway terminal advance notice sign; Highway terminal advance notice sign; Next advance exit sign; Advance exit sign; Exit direction; Emergency telephone; Emergency parking; Climbing lane sign; Space confirmation sign; Shunting and interflow induction sign;
5) descriptor of tourist symbol class: tourist district's direction; Tourist district's distance; Visitor information place; On foot; Cableway; Campsite; Campfire; Sports ground; Ride; Fishing; Golf; Diving; Swimming; Diving; Row the boat; Winter excursion district; Skiing; Skating;
6) descriptor of road construction safety notice class: men working; Road ahead closed; The place ahead left road sealing; The place ahead right road sealing; Sealing in the middle of the place ahead; Slow Down; Travel left; To right travel; Change its course left; Change its course to the right; The place ahead is moved construction and is kept to the right; The place ahead is moved construction and is kept to the left;
7) descriptor of auxiliary sign class: part vehicle allows current; Time period allows current; In time period, no through traffic; Special road section sign.
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| CN106223148A (en) * | 2016-07-22 | 2016-12-14 | 金陵科技学院 | Traffic intersection that a kind of whole process identifies with lane center and using method |
| CN106873441A (en) * | 2015-10-29 | 2017-06-20 | 法拉第未来公司 | The method and system of electron assistant track entrance |
| CN107784042A (en) * | 2016-08-31 | 2018-03-09 | 高德软件有限公司 | A kind of object matching method and device |
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