CN105719499B - Traffic Sign Recognition test method and device - Google Patents
Traffic Sign Recognition test method and device Download PDFInfo
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- CN105719499B CN105719499B CN201610252204.3A CN201610252204A CN105719499B CN 105719499 B CN105719499 B CN 105719499B CN 201610252204 A CN201610252204 A CN 201610252204A CN 105719499 B CN105719499 B CN 105719499B
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- Prior art keywords
- information
- traffic sign
- image
- identification
- identification information
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- 230000000875 corresponding Effects 0.000 claims abstract description 79
- 238000005516 engineering processes Methods 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims description 23
- 230000003068 static Effects 0.000 claims description 11
- 238000000034 methods Methods 0.000 abstract description 18
- 230000000694 effects Effects 0.000 abstract description 8
- 230000035800 maturation Effects 0.000 abstract description 6
- 239000003550 marker Substances 0.000 description 12
- 238000010998 test method Methods 0.000 description 11
- 230000002123 temporal effect Effects 0.000 description 7
- 230000004048 modification Effects 0.000 description 2
- 238000006011 modification reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 101710031899 moon Proteins 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G06—COMPUTING; CALCULATING; COUNTING
- G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
- G06K9/00624—Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
- G06K9/00791—Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
- G06K9/00818—Recognising traffic signs
Abstract
The embodiment of the invention discloses a kind of Traffic Sign Recognition test method and devices.The described method includes：During the traveling of automatic driving vehicle, identification information corresponding with the traffic sign object placed on travel route is received, and identification information is stored；Record the image recognition information of the traffic sign object on the travel route that the automatic driving vehicle is obtained by image recognition technology；Described image identification information with the identification information is compared, verifies identification accuracy of the automatic driving vehicle to the traffic sign object image.Technical scheme realizes the identification information of the traffic sign object received by the wireless messages reception technique of technology maturation to verify the technique effect of the identification accuracy of the image recognition technology for the automatic driving vehicle for belonging to the technological innovation stage, and verification method is simple, fast and accurately property is high.
Description
Technical field
The present embodiments relate to the information processing technology more particularly to a kind of Traffic Sign Recognition test method and devices.
Background technology
With the development of society, automobile has become the irreplaceable vehicles of mankind's daily life.However, therewith
Being the safety problem to become increasingly conspicuous that it brings.Correspondingly, unmanned technology is also just come into being.
With the continuous development of unmanned technology, automatic driving vehicle will play more and more important in people's lives
Effect.Automatic driving vehicle identifies accuracy to the image of road signs, is the one of automatic driving vehicle security performance
A important measurement index.
At present, the image recognition algorithm based on automatic driving vehicle emerges in an endless stream, the suitable environment of each algorithms of different, with
And the recognition success rate of different traffic signs is also different.Particularly, some traffic signs are missed in automatic driving vehicle
During identification, although during actual drive test, automatic driving vehicle will not generate apparent traveling mistake, but with very big
Security risk.Therefore, it is badly in need of a kind of side of simple, quick and accurate validation automatic driving vehicle image identification accuracy
Method.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of Traffic Sign Recognition test method and device, with it is simple, quickly with
And accurately the image of verification automatic driving vehicle identifies accuracy.
In a first aspect, an embodiment of the present invention provides a kind of Traffic Sign Recognition test method, including：
During the traveling of automatic driving vehicle, identity corresponding with the traffic sign object placed on travel route is received
Identification information, and the identification information is stored, wherein, the identification information is closed by the traffic sign object
The traffic sign transmitting terminal of connection is sent in the form of wireless, and the identification information includes：The orientation of traffic sign object
The logo content information of related information and traffic sign object；
Record the traffic sign object on the travel route that the automatic driving vehicle is obtained by image recognition technology
Image recognition information；
Described image identification information with the identification information is compared, verifies the automatic driving vehicle to institute
State the identification accuracy of traffic sign object image.
In second aspect, the embodiment of the present invention additionally provides a kind of Traffic Sign Recognition test device, including：
Identification information memory module, for during the traveling of automatic driving vehicle, receive on travel route
The corresponding identification information of traffic sign object of placement, and the identification information is stored, wherein, the identity
Identification information is sent by the associated traffic sign transmitting terminal of the traffic sign object in the form of wireless, the identity
Information includes：The orientation association information of traffic sign object and the logo content information of traffic sign object；
Image recognition information logging modle, for recording the row that the automatic driving vehicle is obtained by image recognition technology
Sail the image recognition information of the traffic sign object on route；
Accuracy Verification module, for described image identification information to be compared with the identification information, verification
The automatic driving vehicle is to the identification accuracy of the traffic sign object image.
The automatic driving vehicle of the embodiment of the present invention in the process of moving, by receiving the traffic placed in travel
The identification information of the traffic sign object of the associated traffic sign transmitting terminal wireless transmission of marker is stored, and is recorded logical
The image recognition information of the traffic sign object on the travel route of image recognition technology acquisition is crossed, described image is identified and is believed
The technological means being compared with the identification information is ceased, can realize the wireless messages reception technique by technology maturation
The identification information of the traffic sign object of reception come verify the image for the automatic driving vehicle for belonging to the technological innovation stage identify
The technique effect of the identification accuracy of technology, verification method is simple, fast and accurately property is high.
Description of the drawings
Fig. 1 is a kind of flow chart of Traffic Sign Recognition test method of first embodiment of the invention；
Fig. 2 is a kind of flow chart of Traffic Sign Recognition test method of second embodiment of the invention；
Fig. 3 is a kind of flow chart of Traffic Sign Recognition test method of third embodiment of the invention；
Fig. 4 is a kind of structure chart of Traffic Sign Recognition test device of fourth embodiment of the invention.
Specific embodiment
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawings to of the invention specific real
Example is applied to be described in further detail.It is understood that specific embodiment described herein is used only for explaining the present invention,
Rather than limitation of the invention.
It also should be noted that illustrate only for ease of description, in attached drawing part related to the present invention rather than
Full content.It should be mentioned that some exemplary embodiments are described before exemplary embodiment is discussed in greater detail
Into the processing or method described as flow chart.Although operations (or step) are described as the processing of order by flow chart,
It is that many of which operation can be implemented concurrently, concomitantly or simultaneously.In addition, the order of operations can be by again
It arranges.The processing can be terminated when its operations are completed, it is also possible to have the additional step being not included in attached drawing.
The processing can correspond to method, function, regulation, subroutine, subprogram etc..
First embodiment
A kind of flow chart for Traffic Sign Recognition test method that Fig. 1 provides for first embodiment of the invention, the present embodiment
Method can be performed by Traffic Sign Recognition test device, which can be realized by way of hardware and/or software, and
It can generally be integrated in automatic driving vehicle.The method of the present embodiment specifically includes：
110th, during the traveling of automatic driving vehicle, receive corresponding with the traffic sign object placed on travel route
Identification information, and the identification information is stored.
As previously mentioned, automatic driving vehicle in road surface in order to safely and reliably being travelled, it is desirable to be able to accurate
The traffic sign object placed on travel route is identified by image recognition technology, and according to the traffic sign object identified
Logo content, take corresponding automation driving strategy.
The traffic sign object can include：Static traffic direction board is (for example, speed limit, no tooting, turning left and turning around
Wait direction boards) and dynamic traffic indicator light (typical, traffic lights placed in crossroad etc.).Due to existing image
Identification technology can not ensure that therefore, it is a kind of accurate by traffic sign object to propose in embodiments of the present invention in accuracy
Identification information, come authentication image identification accuracy technical solution.
Wherein, the identification information by the associated traffic sign transmitting terminal of the traffic sign object in the form of wireless
(for example, wireless signal of Wi-Fi, bluetooth or the forms such as infrared) is sent.
Preferably, traffic sign transmitting terminal can be arranged at the inside or unobstructed of the traffic sign object associated by it
Be arranged in the setting range determined by associated traffic sign object (for example, 0.5m, 0.8m or 1m etc.), so work as nothing
When people's driving vehicle is travelled to traffic marker, the transmission of traffic sign transmitting terminal can be received, with traffic sign object
Corresponding identification information.
In the present embodiment, the identification information can include：The orientation association information of traffic sign object and friendship
The logo content information of logical marker.
Wherein, the orientation association information of the traffic sign object specifically refers to can be used for directly or indirectly, uniquely
The information of traffic sign object placed in identification road surface, for example, for Direct Recognition traffic sign object latitude and longitude information or
For indirect identification traffic sign object and the system during traffic sign transmitting terminal wireless transmission identification information
Time corresponding transmission time information etc..
In a preferred embodiment of the present embodiment, if the traffic sign object indicates for the static traffic
Board, then the logo content information of the traffic sign object include：Traffic sign object type information；
If the traffic sign object is the dynamic traffic indicator light, the logo content information of the traffic sign object
Including：Traffic sign object type information and traffic sign object real time status information.
Wherein, if the traffic sign object is static traffic sign board, the logo content of the traffic sign object can phase
To fixation, for the traffic sign object type information, such as：" 50 kilometers of speed limit is per hour ", " no left turn " or " uniline " etc.；
If the traffic sign object is dynamic traffic indicator light, the logo content meeting real-time change of the traffic sign object, is traffic
Marker type information and traffic sign object real time status information, such as：Traffic sign object type information is " traffic lights ", is handed over
Logical marker real time status information is " green light phase " or traffic sign object type information is " motor vehicle signal lamp ", traffic
Marker real time status information is " countdown 30s " etc..
In a specific example, automatic driving vehicle in the process of moving, as one placed close on travel route
During a target traffic sign object, you can the traffic sign transmitting terminal wireless transmission associated by the correspondingly received target traffic sign object
The target traffic sign object identification information, and the identification information is that the target traffic sign object is accurate
Identity information.Automatic driving vehicle is by storing the identification information of the target traffic sign object and by the identification information
Compared with to the image recognition information of the target traffic sign object, you can simple, automation to verify image knowledge
The accuracy of other information.
120th, the traffic mark on the travel route that the automatic driving vehicle is obtained by image recognition technology is recorded
The image recognition information of will object.
In the present embodiment, for the identification accuracy of authentication image identification technology, automatic driving vehicle needs to record row
Sail the image recognition information of the traffic sign object on route.
Wherein, described image identification information, which includes at least, image recognition result to the traffic sign object, and described
Identification information is similar, and according to the different type of the traffic sign object, (static traffic indicates described image recognition result
Board or dynamic traffic indicator light), it is also otherwise varied：If the traffic sign object is static traffic direction board, the figure
As recognition result only includes the traffic sign type information；If the traffic sign object is dynamic traffic indicator light, institute
Stating image recognition result includes traffic sign object type information and traffic sign object real time status information.
Further, in order to identify with the accurate corresponding identification information of image recognition information, to complete pair
The verification of described image identification information accuracy also needs in described image identification information include directly or indirectly determining
Image identifies the auxiliary information of position, such as：The automatic driving vehicle position pair during with successfully identifying traffic sign
Identification of geographic location information or recognition time information corresponding with system time when successfully identifying traffic sign for answering etc..
130th, described image identification information with the identification information is compared, verifies the automatic driving vehicle
To the identification accuracy of the traffic sign object image.
As previously mentioned, by by the orientation in the above-mentioned auxiliary information in image recognition information and the identification information
Related information is compared, you can identifies and the accurate corresponding identification information of image recognition information.By that will have pair
Verification is compared with logo content information in the image recognition result that should be related to, you can determines automatic driving vehicle in travel route
In by image recognition technology obtain each image recognition result accuracy.
By above-mentioned analysis of the accuracy, the researcher of image recognition technology can analyze different usage scenario (daytime, the moon
Its either night etc.) hypograph recognizer identification accuracy or image recognition algorithm be directed to different types of traffic mark
The parameters such as recognition accuracy of the identification accuracy or image recognition algorithm of will object under different sections of highway, and then can have
Put being improved to image recognition algorithm for arrow.
The automatic driving vehicle of the embodiment of the present invention in the process of moving, by receiving the traffic placed in travel
The identification information of the traffic sign object of the associated traffic sign transmitting terminal wireless transmission of marker is stored, and is recorded logical
The image recognition information of the traffic sign object on the travel route of image recognition technology acquisition is crossed, described image is identified and is believed
The technological means being compared with the identification information is ceased, can realize the wireless messages reception technique by technology maturation
The identification information of the traffic sign object of reception come verify the image for the automatic driving vehicle for belonging to the technological innovation stage identify
The technique effect of the identification accuracy of technology, verification method is simple, fast and accurately property is high.
Second embodiment
Fig. 2 is a kind of flow chart of Traffic Sign Recognition test method of second embodiment of the invention.It is more than the present embodiment
It states and optimizes based on embodiment, in the present embodiment, the orientation association information of the traffic sign object is specifically optimized for：
Actual geographic location information corresponding with the traffic sign object riding position；Described image identification information is specifically optimized for：
The corresponding identification of geographic location information in the automatic driving vehicle position and to institute during with successfully identifying traffic sign
State the image recognition result of traffic sign object.
Correspondingly, described image identification information is compared with the identification information, verification is described unmanned
Vehicle is specifically optimized for the image identification accuracy of the traffic sign object：By the reality in the identification information
Geographical location information is compared with the identification of geographic location information in described image identification information, and it is small to obtain relative distance
In the first actual geographic position of given threshold and the first identification of geographic location；If with first identification of geographic location pair
The image recognition result and logo content information corresponding with the first actual geographic position answered are consistent, it is determined that with it is described
The corresponding image recognition result of first identification of geographic location is correct.
Correspondingly, the method for the present embodiment specifically includes：
210th, during the traveling of automatic driving vehicle, the traffic sign object with being placed on travel route is received and stored
Corresponding actual geographic location information and logo content information.
In the present embodiment, after a traffic sign object is placed in road surface, where geographical location and mark
Will content information is just now uniquely determined, by with built-in traffic in the traffic sign transmitting terminal associated by the traffic sign object
The corresponding actual geographic location information of marker (typical, latitude and longitude information and elevation information) and logo content information,
Traffic sign transmitting terminal can be transmitted by it identification information include the corresponding actual geographic of the traffic sign object
Location information and logo content information, and can ensure in physical location and the mark of the information accurate representation marker
Hold.
220th, the traffic mark on the travel route that the automatic driving vehicle is obtained by image recognition technology is recorded
The image recognition information of will object.
In the present embodiment, described image identification information specifically includes：During with successfully identifying traffic sign it is described nobody
Drive the corresponding identification of geographic location information in vehicle position and the image recognition result to the traffic sign object.
In the present embodiment, in order to establish the correspondence between image recognition information and identification information, it is necessary to
Image recognition information corresponding identification ground in automatic driving vehicle position when including with successfully identifying traffic sign
Manage location information.
It 230th, will be in the actual geographic location information in the identification information and described image identification information
The identification of geographic location information is compared, and obtains the first actual geographic position and that relative distance is less than given threshold
One identification of geographic location.
It is understood that when the image capture device (typical, camera) in automatic driving vehicle is close to traffic mark
During will object, corresponding image recognition result can be just obtained.It is consequently possible to calculate the reality in different identity identification information
The relative distance between the identification of geographic location information in geographical location information and image recognition information obtains relative distance
Less than the first actual geographic position of given threshold and the first identification of geographic location, and determine to believe with above-mentioned two geographical location
Ceasing has correspondence between corresponding image recognition result and logo content information.
Wherein, the size of the given threshold can be preset according to actual conditions, for example, according to automatic driving vehicle
Picture catching scope of middle camera etc., the present embodiment is to this and is not limited.
240th, judge corresponding with first identification of geographic location image recognition result and with first actual geographic
Whether the corresponding logo content information in position is consistent：If so, perform 250；Otherwise, 260 are performed.
250th, determine that image recognition result corresponding with first identification of geographic location is correct.
260th, image recognition result mistake corresponding with first identification of geographic location is determined.
The automatic driving vehicle of the technical solution of the present embodiment is by receiving and storing including traffic sign object actual geographic
The identification information of location information, and automatic driving vehicle when successfully identifying traffic sign is recorded in the process of moving
The corresponding identification of geographic location information in position, can be after driving, according between above two geographical location information
Relation, determine to compare to logo content information and image recognition result, and then can realize the nothing by technology maturation
The identification information for the traffic sign object that line information reception technique receives belongs to the unmanned of technological innovation stage to verify
The technique effect of the identification accuracy of the image recognition technology of vehicle, verification method is simple, fast and accurately property is high.
3rd embodiment
Fig. 3 is a kind of flow chart of Traffic Sign Recognition test method of third embodiment of the invention.It is more than the present embodiment
It states and optimizes based on embodiment, in the present embodiment, the orientation association information of the traffic sign object is specifically optimized for：
Transmission time information corresponding with the system time during traffic sign transmitting terminal wireless transmission identification information；It will
Described image identification information is specifically optimized for：Recognition time information corresponding with system time when successfully identifying traffic sign
And the image recognition result to the traffic sign object.
Correspondingly, described image identification information is compared with the identification information, verification is described unmanned
Vehicle is specifically optimized for the image identification accuracy of the traffic sign object：By the transmission in the identification information
Temporal information is compared with the recognition time information in described image identification information, obtains time difference and is less than setting threshold
The first sending time and the first recognition time of value；If image recognition result corresponding with first recognition time and with
The corresponding logo content information of first sending time is consistent, it is determined that image corresponding with first recognition time is known
Other result is correct.
Correspondingly, the method for the present embodiment specifically includes：
310th, during the traveling of automatic driving vehicle, the traffic sign object with being placed on travel route is received and stored
Corresponding transmission time information and logo content information.
Wherein, the transmission time information specifically refers to：The identity mark is transmitted wirelessly with the traffic sign transmitting terminal
Know the corresponding transmission time information of system time during information.
In the present embodiment, it is contemplated that different transmission signal powers is set in traffic sign transmitting terminal, transmitted by
Wireless signal also has different radiation scopes, by adjusting the wireless signal transmit power of traffic sign transmitting terminal, Ke Yishi
Now only the identification information could be obtained close to the automatic driving vehicle of the traffic sign object or traffic sign transmitting terminal.
If the correspondingly, signal transmitting power by the corresponding traffic sign transmitting terminal of each traffic sign object on travel route
What is set is relatively reasonable, then traffic sign transmitting terminal passes through the corresponding hair of system time when will send the identification information
Temporal information is sent to can also be used to distinguish different traffic sign objects indirectly as the orientation association information in identification information.
320th, the traffic mark on the travel route that the automatic driving vehicle is obtained by image recognition technology is recorded
The image recognition information of will object.
In the present embodiment, described image identification information specifically includes：Successfully identify system time during traffic sign
Corresponding recognition time information and the image recognition result to the traffic sign object.
As previously mentioned, when the image capture device (typical, camera) in automatic driving vehicle is close to traffic sign object
When, it can just obtain corresponding image recognition result.It is consequently possible to calculate the transmission in the different identification informations
The time difference between the recognition time information in temporal information and described image identification information obtains time difference and is less than
The first sending time and the first recognition time of given threshold, and determine image corresponding with above-mentioned two temporal information
There is correspondence between recognition result and logo content information.
It 330th, will be described in the transmission time information in the identification information and described image identification information
Recognition time information is compared, and obtains the first sending time and the first recognition time that time difference is less than given threshold.
Wherein, the size of the given threshold can be preset according to actual conditions, for example, according to automatic driving vehicle
The picture catching scope of middle camera and the signal transmitting power value of traffic sign transmitting terminal etc., the present embodiment to this not into
Row limitation.
340th, corresponding with first recognition time image recognition result and corresponding with first sending time is judged
Logo content information whether be consistent：If so, perform 350；Otherwise, 360 are performed.
350th, determine that image recognition result corresponding with first recognition time is correct.
360th, image recognition result mistake corresponding with first recognition time is determined.
The automatic driving vehicle of the technical solution of the present embodiment is by receiving and storing including the corresponding hair of traffic sign object
The identification information of temporal information is sent, and records the correspondence of system time when successfully identifying traffic sign in the process of moving
Recognition time information, can after driving, according to the relation between above two temporal information, determine to compare to mark
Will content information and image recognition result, and then can realize the friendship received by the wireless messages reception technique of technology maturation
Lead to the identification information of marker to verify the knowledge of the image recognition technology for the automatic driving vehicle for belonging to the technological innovation stage
The technique effect of other accuracy, verification method is simple, fast and accurately property is high.
Fourth embodiment
Fig. 4 is a kind of structure chart of Traffic Sign Recognition test device of fourth embodiment of the invention.As shown in figure 4, institute
Stating device includes：
Identification information memory module 41 for during the traveling of automatic driving vehicle, receives and travel route
The corresponding identification information of traffic sign object of upper placement, and the identification information is stored, wherein, the body
Part identification information is sent by the associated traffic sign transmitting terminal of the traffic sign object in the form of wireless, the identity mark
Knowing information includes：The orientation association information of traffic sign object and the logo content information of traffic sign object.
Image recognition information logging modle 42 is obtained by image recognition technology for recording the automatic driving vehicle
The image recognition information of the traffic sign object on travel route.
Accuracy Verification module 43 for described image identification information to be compared with the identification information, is tested
Demonstrate,prove identification accuracy of the automatic driving vehicle to the traffic sign object image.
The automatic driving vehicle of the embodiment of the present invention in the process of moving, by receiving the traffic placed in travel
The identification information of the traffic sign object of the associated traffic sign transmitting terminal wireless transmission of marker is stored, and is recorded logical
The image recognition information of the traffic sign object on the travel route of image recognition technology acquisition is crossed, described image is identified and is believed
The technological means being compared with the identification information is ceased, can realize the wireless messages reception technique by technology maturation
The identification information of the traffic sign object of reception come verify the image for the automatic driving vehicle for belonging to the technological innovation stage identify
The technique effect of the identification accuracy of technology, verification method is simple, fast and accurately property is high.
On the basis of the various embodiments described above, the traffic sign object can include：Static traffic direction board and dynamic
Stop-light.
It is described if the traffic sign object is the static traffic direction board on the basis of the various embodiments described above
The logo content information of traffic sign object can include：Traffic sign object type information；
If the traffic sign object is the dynamic traffic indicator light, the logo content information of the traffic sign object
It can include：Traffic sign object type information and traffic sign object real time status information.
On the basis of the various embodiments described above, the orientation association information of the traffic sign object can include：With the friendship
Lead to the corresponding actual geographic location information of marker riding position；
Described image identification information can include：The automatic driving vehicle institute is in place during with successfully identifying traffic sign
Put corresponding identification of geographic location information and the image recognition result to the traffic sign object.
On the basis of the various embodiments described above, the Accuracy Verification module specifically can be used for：
Described in the actual geographic location information in the identification information and described image identification information
Identification of geographic location information is compared, and obtains the first actual geographic position and the first knowledge that relative distance is less than given threshold
Other geographical location；
If image recognition result corresponding with first identification of geographic location and with the first actual geographic position
Corresponding logo content information is consistent, it is determined that pair image recognition result corresponding with first identification of geographic location is just
Really.
On the basis of the various embodiments described above, the orientation association information of the traffic sign object can include：With the friendship
Logical mark transmitting terminal transmits wirelessly the corresponding transmission time information of system time during the identification information；
Described image identification information can include：During identification corresponding with system time when successfully identifying traffic sign
Between information and the image recognition result to the traffic sign object.
On the basis of the various embodiments described above, the Accuracy Verification module specifically can be used for：
By the identification in the transmission time information in the identification information and described image identification information
Temporal information is compared, and obtains the first sending time and the first recognition time that time difference is less than given threshold；
If image recognition result corresponding with first recognition time and mark corresponding with first sending time
Will content information is consistent, it is determined that image recognition result corresponding with first recognition time is correct.
The Traffic Sign Recognition test device that the embodiment of the present invention is provided can be used for execution any embodiment of the present invention to carry
The Traffic Sign Recognition test method of confession, possesses corresponding function module, realizes identical advantageous effect.
Obviously, it will be understood by those skilled in the art that each module or each step of the above-mentioned present invention can be by as above
The automatic driving vehicle is implemented.Optionally, the embodiment of the present invention can be with the program that computer installation can perform come real
It is existing, it is executed by a processor so as to be stored in storage device, the program can be stored in a kind of calculating
In machine readable storage medium storing program for executing, storage medium mentioned above can be read-only memory, disk or CD etc.；Or they are divided
Each integrated circuit modules are not fabricated to or multiple modules in them or step are fabricated to single integrated circuit module
It realizes.In this way, the combination the present invention is not limited to any specific hardware and software.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the invention, for those skilled in the art
For, the present invention can have various modifications and changes.All any modifications made within spirit and principles of the present invention are equal
Replace, improve etc., it should all be included in the protection scope of the present invention.
Claims (14)
1. a kind of Traffic Sign Recognition test method, which is characterized in that including：
During the traveling of automatic driving vehicle, identity corresponding with the traffic sign object placed on travel route is received
Information, and the identification information is stored, wherein, the identification information is associated by the traffic sign object
Traffic sign transmitting terminal is sent in the form of wireless, and the identification information includes：The orientation association of traffic sign object
The logo content information of information and traffic sign object；
Record the figure of the traffic sign object on the travel route that the automatic driving vehicle is obtained by image recognition technology
As identification information, described image identification information includes the auxiliary information for determining image identification position；
By the orientation association information in the auxiliary information in described image identification information and the identification information
It is compared, identifies and the accurate corresponding identification information of image recognition information；
Verification is compared with logo content information in image recognition result with correspondence, it is described unmanned to verify
Vehicle is to the identification accuracy of the traffic sign object image.
2. according to the method described in claim 1, it is characterized in that, the traffic sign object includes：Static traffic direction board, with
And dynamic traffic indicator light.
3. if according to the method described in claim 2, it is characterized in that, the traffic sign object indicates for the static traffic
Board, then the logo content information of the traffic sign object include：Traffic sign object type information；
If the traffic sign object is the dynamic traffic indicator light, the logo content packet of the traffic sign object
It includes：Traffic sign object type information and traffic sign object real time status information.
4. according to the method described in claim 3, it is characterized in that, the orientation association information of the traffic sign object includes：With
The corresponding actual geographic location information of the traffic sign object riding position；
Described image identification information includes：The automatic driving vehicle position is corresponding during with successfully identifying traffic sign
Identification of geographic location information and the image recognition result to the traffic sign object.
5. according to the method described in claim 4, it is characterized in that, by described image identification information and the identification information
It is compared, verifies that the automatic driving vehicle includes the image identification accuracy of the traffic sign object：
By the identification in the actual geographic location information in the identification information and described image identification information
Geographical location information is compared, and obtains the first actual geographic position and the first identification ground that relative distance is less than given threshold
Manage position；
If image recognition result corresponding with first identification of geographic location and corresponding with the first actual geographic position
Logo content information be consistent, it is determined that image recognition result corresponding with first identification of geographic location is correct.
6. according to the method described in claim 3, it is characterized in that, the orientation association information of the traffic sign object includes：With
The traffic sign transmitting terminal transmits wirelessly the corresponding transmission time information of system time during the identification information；
Described image identification information includes：Recognition time information corresponding with system time when successfully identifying traffic sign with
And the image recognition result to the traffic sign object.
7. according to the method described in claim 6, it is characterized in that, by described image identification information and the identification information
It is compared, verifies that the automatic driving vehicle includes the image identification accuracy of the traffic sign object：
By the recognition time in the transmission time information in the identification information and described image identification information
Information is compared, and obtains the first sending time and the first recognition time that time difference is less than given threshold；
If in image recognition result corresponding with first recognition time and mark corresponding with first sending time
Hold information to be consistent, it is determined that image recognition result corresponding with first recognition time is correct.
8. a kind of Traffic Sign Recognition test device, which is characterized in that including：
Identification information memory module, for during the traveling of automatic driving vehicle, receiving with being placed on travel route
The corresponding identification information of traffic sign object, and the identification information is stored, wherein, the identity
Information is sent by the associated traffic sign transmitting terminal of the traffic sign object in the form of wireless, the identification information
Including：The orientation association information of traffic sign object and the logo content information of traffic sign object；
Image recognition information logging modle, for recording the traveling road that the automatic driving vehicle is obtained by image recognition technology
The image recognition information of the traffic sign object on line, described image identification information include determining that image identifies position
Auxiliary information；
Comparing module, for will be described in the auxiliary information in described image identification information and the identification information
Orientation association information is compared, and identifies and the accurate corresponding identification information of image recognition information；
Accuracy Verification module is tested for the image recognition result with correspondence to be compared with logo content information
Card, to verify identification accuracy of the automatic driving vehicle to the traffic sign object image.
9. device according to claim 8, which is characterized in that the traffic sign object includes：Static traffic direction board, with
And dynamic traffic indicator light.
10. device according to claim 9, which is characterized in that if the traffic sign object refers to for the static traffic
Show board, then the logo content information of the traffic sign object includes：Traffic sign object type information；
If the traffic sign object is the dynamic traffic indicator light, the logo content packet of the traffic sign object
It includes：Traffic sign object type information and traffic sign object real time status information.
11. device according to claim 10, which is characterized in that the orientation association information of the traffic sign object includes：
Actual geographic location information corresponding with the traffic sign object riding position；
Described image identification information includes：The automatic driving vehicle position is corresponding during with successfully identifying traffic sign
Identification of geographic location information and the image recognition result to the traffic sign object.
12. according to the devices described in claim 11, which is characterized in that the Accuracy Verification module is specifically used for：
By the identification in the actual geographic location information in the identification information and described image identification information
Geographical location information is compared, and obtains the first actual geographic position and the first identification ground that relative distance is less than given threshold
Manage position；
If image recognition result corresponding with first identification of geographic location and corresponding with the first actual geographic position
Logo content information be consistent, it is determined that image recognition result corresponding with first identification of geographic location is correct.
13. device according to claim 10, which is characterized in that the orientation association information of the traffic sign object includes：
Transmission time information corresponding with the system time during traffic sign transmitting terminal wireless transmission identification information；
Described image identification information includes：Recognition time information corresponding with system time when successfully identifying traffic sign with
And the image recognition result to the traffic sign object.
14. device according to claim 13, which is characterized in that the Accuracy Verification module is specifically used for：
By the recognition time in the transmission time information in the identification information and described image identification information
Information is compared, and obtains the first sending time and the first recognition time that time difference is less than given threshold；
If in image recognition result corresponding with first recognition time and mark corresponding with first sending time
Hold information to be consistent, it is determined that image recognition result corresponding with first recognition time is correct.
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| CN105699095B (en) * | 2016-01-27 | 2018-11-13 | 常州加美科技有限公司 | A kind of test method of automatic driving vehicle |
| CN107784042B (en) * | 2016-08-31 | 2021-02-05 | 阿里巴巴（中国）有限公司 | Object matching method and device |
| CN107784844A (en) * | 2016-08-31 | 2018-03-09 | 百度在线网络技术（北京）有限公司 | Intelligent traffic lamp system and its road environment detection method |
| CN106855944B (en) * | 2016-12-22 | 2020-01-14 | 浙江宇视科技有限公司 | Pedestrian marker identification method and device |
| CN107218941A (en) * | 2017-05-25 | 2017-09-29 | 百度在线网络技术（北京）有限公司 | Method of testing and device applied to pilotless automobile |
| CN107571867B (en) * | 2017-09-05 | 2019-11-08 | 百度在线网络技术（北京）有限公司 | Method and apparatus for controlling automatic driving vehicle |
| CN108022438A (en) * | 2017-11-24 | 2018-05-11 | 南京云游智能科技有限公司 | Urban traffic guidance method, system and electric road sign apparatus based on NB-IoT |
| CN108257401A (en) * | 2018-01-31 | 2018-07-06 | 张转 | The device and method that automobile is avoided not see traffic lights because of direct sunlight |
| CN108648490A (en) * | 2018-07-03 | 2018-10-12 | 公安部交通管理科学研究所 | A kind of test method of autonomous driving vehicle speed-limiting messages responding ability |
| CN109141922B (en) * | 2018-09-03 | 2020-08-11 | 长安大学 | Unmanned vehicle forbidden traffic sign board autonomous perception capability test system and test method |
| CN109711285B (en) * | 2018-12-11 | 2021-02-05 | 百度在线网络技术（北京）有限公司 | Training and testing method and device for recognition model |
| CN110619307B (en) * | 2019-09-18 | 2020-09-18 | 广州文远知行科技有限公司 | Traffic light state determination method, device, equipment and storage medium |
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