CN106339683A - Road test traffic light identification method and device - Google Patents
Road test traffic light identification method and device Download PDFInfo
- Publication number
- CN106339683A CN106339683A CN201610743312.0A CN201610743312A CN106339683A CN 106339683 A CN106339683 A CN 106339683A CN 201610743312 A CN201610743312 A CN 201610743312A CN 106339683 A CN106339683 A CN 106339683A
- Authority
- CN
- China
- Prior art keywords
- road test
- template image
- traffic light
- identification method
- light identification
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/16—Control of vehicles or other craft
- G09B19/167—Control of land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
Abstract
The invention discloses a road test traffic light identification method and device. The method is characterized by, obtaining current position information of a road test vehicle; calling a pre-established template image database, and searching a corresponding template image in the template image database through the current position information; and comparing the collected current intersection image and the template image to determine the state of the road test traffic light. The road test traffic light identification method and device serve the pre-collected template images having geographical location information as the template image database, and make a comparison with the template image at the corresponding position according to the current position information of the road test vehicle, and can realize efficient, quick and automatic identification of the state of the road test traffic light, thereby realizing automatic judgment of behaviors of examinees without manual intervention.
Description
Technical field
The present invention relates to road test electrifies technique field, more particularly to a kind of road test traffic light identification method and device.
Background technology
Since subject three road test electronization is carried out by the Ministry of Public Security, using high-precision location technique and vehicle-mounted sensing technology knot
Close, the automatization having been realized in a part of test item is passed judgment on, and passes judgment on and some outside road conditions yet with subject three road test
Condition is related, such as the state of crossroads traffic light, and the rule that different states is passed judgment on to automatization is different, therefore works as needs
The test item of perception crossroads traffic light state, relies on merely existing solution to cannot be carried out auto judge, typically all needs
Manually to be passed judgment on by video means intervention auxiliary.
Current subject three road test system is typically all based on automatization is passed judgment on, and supplemented by artificial judge, artificial judge is adopted
With installing video monitoring equipment in the car, direction of advance in the car installs photographic head, and such backstage invigilator personnel can be real-time
See the road conditions environment of current external, in the related test item in crossing, crossing is observed by Vehicular video equipment by examiner
Lights state, the driving behavior to examinee is manually passed judgment on.
Pass judgment on a variety of lack of standardization of presence due to artificial in vehicle driver examination for a long time, underlying rule problem causes
This field becomes a more sensitive field.After employing automatization's judge of part, a lot of examiners, in order to avoid arousing suspicion, are put substantially
Abandon the right of artificial judge, the artificial project passed judgment on has been needed to some, as long as auto judge is not deducted points, even if examinee exists
Significantly problem is also seldom manually deducted points to it intervention, if this situation defines normality, will result in and does not much conform to
The examinee of lattice takes driver's license, becomes potential road killer, the safety of impact road traffic.
If generally will be identified to the lights state at crossing, typically adopt video image analysis technology, but by
Higher in the requirement of real-time of Video processing, substantial amounts of data handling requirements make this technology imitate in subject three examination scene
Really poor, it is difficult to practicality.
Content of the invention
It is an object of the invention to provide a kind of road test traffic light identification method and device, so as to subject three road test, this is specific
Application scenarios carry out rapidly and efficiently, the automatic identification of high accuracy.
For solving above-mentioned technical problem, the present invention provides a kind of road test traffic light identification method, comprising:
Obtain the current location information of road test vehicle；
Call the template image data storehouse pre-building, described template image data storehouse comprises many in road test region in advance
Individual location point acquired image information, described image information is corresponding with the positional information of described location point；
Corresponding template image is searched in described template image data storehouse by described current location information；
The current the image of crossing of collection is contrasted with described template image, is determined the lights state of road test.
Alternatively, the described current location information obtaining road test vehicle includes:
Obtain the current location information of described road test vehicle by high accuracy satellite fix.
Alternatively, described template image data storehouse is that in road test region, multiple location point acquired images are believed in advance
Breath, described location point is evenly distributed in described road test region.
Alternatively, also included before the described current the image of crossing by collection is contrasted with described template image:
Gather frame according to traffic lights set in advance, cutting is carried out to the current the image of crossing of collection, scheme after obtaining cutting
Picture.
Alternatively, described traffic lights set in advance gather each image information that frame is the collection of described template image data storehouse
The bounding box of traffic lights scope in the maximum boundary frame of middle traffic lights scope, or template image corresponding with current location.
Alternatively, the described current the image of crossing by collection is contrasted with described template image, determines the red green of road test
Lamp state includes:
Feature extraction is carried out to image after described cutting；
The feature extracted is compared with the feature judgment threshold pre-building, to determine described lights state.
Alternatively, described feature judgment threshold is by obtaining to the image information determination gathering under the conditions of different weather
Threshold value.
Alternatively, also include after the described lights state determining road test:
According to described lights state and scene condition, the user of current road test vehicle is carried out with deduction of points to pass judgment on.
Present invention also offers a kind of road test traffic light identification device, comprising:
Acquisition module, for obtaining the current location information of road test vehicle；
Calling module, for calling the template image data storehouse pre-building, described template image data storehouse comprises in advance
Multiple location point acquired image information in road test region, described image information is relative with the positional information of described location point
Should；
Searching modul, for searching corresponding mould by described current location information in described template image data storehouse
Plate image；
Identification module, for being contrasted the current the image of crossing of collection with described template image, determines the red of road test
Green light phase.
Road test traffic light identification method provided by the present invention and device, by obtaining the present bit confidence of road test vehicle
Breath；Call the template image data storehouse pre-building, searched by current location information corresponding in template image data storehouse
Template image；The current the image of crossing of collection is contrasted with template image, is determined the lights state of road test.The present invention
The road test traffic light identification method being provided and device, will gather template image with geographical location information in advance as mould
Plate image data base, the template image of the current location information according to road test vehicle and correspondence position is compared, and can satisfy the need
The lights state of mouth carries out efficiently and rapidly automatic identification, thus realize the automatization to examinee's action passing judgment on, need not be artificial
Intervention.
Brief description
For the technical scheme of the clearer explanation embodiment of the present invention or prior art, below will be to embodiment or existing
Technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description are only this
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also root
Obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is a kind of flow chart of specific embodiment of road test traffic light identification method provided by the present invention；
Fig. 2 be road test traffic light identification method provided by the present invention another kind of specific embodiment in crossing illustrate
Figure；
Fig. 3 is the flow chart of another kind of specific embodiment of road test traffic light identification method provided by the present invention；
Fig. 4 be road test traffic light identification method provided by the present invention another kind of specific embodiment in image acquisition point
Schematic diagram；
Fig. 5 be road test traffic light identification method provided by the present invention another kind of specific embodiment in collect red
The schematic diagram of green light image；
Fig. 6 be road test traffic light identification method provided by the present invention another kind of specific embodiment in traffic lights collection
The schematic diagram of frame；
Fig. 7 is the schematic diagram of another kind of specific embodiment of road test traffic light identification method provided by the present invention；
Fig. 8 is the structured flowchart of road test traffic light identification device provided in an embodiment of the present invention.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiment is only a part of embodiment of the present invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, broadly falls into the scope of protection of the invention.
A kind of flow chart of the specific embodiment of road test traffic light identification method provided by the present invention as shown in figure 1,
The method includes:
Step s101: obtain the current location information of road test vehicle；
Step s102: call the template image data storehouse pre-building, described template image data storehouse comprises in advance on road
Multiple location point acquired image information in the domain of examination district, described image information is corresponding with the positional information of described location point；
Step s103: corresponding Prototype drawing is searched in described template image data storehouse by described current location information
Picture；
Step s104: the current the image of crossing of collection is contrasted with described template image, determines the traffic lights of road test
State.
Road test traffic light identification method provided by the present invention, by obtaining the current location information of road test vehicle；Call
The template image data storehouse pre-building, searches corresponding Prototype drawing by current location information in template image data storehouse
Picture；The current the image of crossing of collection is contrasted with template image, is determined the lights state of road test.Provided by the present invention
Road test traffic light identification method, will gather template image with geographical location information in advance as template image data storehouse,
The template image of the current location information according to road test vehicle and correspondence position is compared, can be to the lights state at crossing
Carry out efficiently and rapidly automatic identification, thus realizing the automatization of examinee's action is passed judgment on, intervention that need not be artificial.
On the basis of above-described embodiment, in road test traffic light identification method provided by the present invention, obtain road test vehicle
Current location information step can particularly as follows:
Obtain the current location information of described road test vehicle by high accuracy satellite fix.
High accuracy satellite fix is also differential position, will satellite positioning receiver to be placed in base station enterprising
Row observation.Precision coordinate according to known to base station, calculates base station to the distance correction of satellite, and in real time will by base station
This data is activation is gone out.Receiver user, while carrying out satellite fix observation, also receives the correction that base station sends
Number, and its positioning result is corrected, thus improving positioning precision.
High-accuracy position system is utilized to build two dimensional surface mathematical model to test site and road, in mould in the present embodiment
The coordinate range of warehouse compartment sideline, highway sideline, crossing, zebra crossing etc. is marked out in type data.In examination process, pass judgment on system
System calculates the outline position information of wheel of vehicle, vehicle body automatically according to Real-time Collection vehicle satellite elements of a fix point information.
The method that the present embodiment is combined using Video Analysis Technology and high accuracy satellite positioning tech, realizes in subject three
The project related to all crossings in examination process, amount of calculation is less, and efficiency is higher, is subject three examination system automatic identification road
The offer of lipstick green light can be more practical solution.
It is pointed out that the present invention can also gather the image that several carry geographical location information by other means,
To set up the pretreatment that image is realized in template image data storehouse, functionally also enable however it is not limited to be defended using high accuracy
The method of star positioning.
The examination system of subject three is the position of the examination judge that is to say, that keeping straight in all of crossing based on fixing circuit
It is all fixing for putting, and that is, the crossing project of each subject three examination route has carried out high-precision defending in the project implementation
Star position-finding, there is the description coordinate of a series of fixed position at each crossing.
Specifically, template image data storehouse is multiple location point acquired image information, institute in road test region in advance
State location point to be evenly distributed in described road test region.
Crossing schematic diagram in another kind of specific embodiment of road test traffic light identification method as provided by the present invention in Fig. 2
Shown, on the road entering crossing both sides, each track has all carried out the mapping of high-precision satellite fix, in figure is a, b, c,
D, a ', b ', c ', eight points of d ', that is, these point geographical position coordinates data all system has been arrived with the precision acquisition of Centimeter Level,
It has been set up electronic model.Wherein abcd defines the judge line at crossing, and a ' b ' c ' d ' forms and project can start the initial of judge
Line.
The crossing photo of several positions therefore can be gathered in advance in the range of these regions, form system and know
Other template base, and reality, in subject three examination auto judge, captures crossing photo by continuous, in conjunction with the mould gathering in advance
The quick matching identification in plate storehouse, analyzes the state of traffic lights, carries out real-time auto judge.
Flow chart such as Fig. 3 institute of another kind of specific embodiment of road test traffic light identification method provided by the present invention
Show, this process includes:
Step s200: according to station acquisition template image, generate template image data storehouse；
Specifically, carry out picture collection with examination vehicle at the crossing needing to judge, can be from start line a ' b ' c ' d ' position
Put and start averagely to take some positions to carry out the collection of crossing photo in the range of the graticule abcd of crossing.
Image acquisition point in another kind of specific embodiment of road test traffic light identification method as provided by the present invention in Fig. 4
Schematic diagram shown in, by the bb ' quartering, in b, b1, b2, b3, b ' position shoots the image in crossing direction to vehicle forward direction.
Obtain 5 close figures (from the close-by examples to those far off), the another kind of road test traffic light identification method as provided by the present invention in Fig. 5 is specifically real
Apply shown in the schematic diagram of traffic lights image collecting in mode, the size in wherein traffic lights region exists according to optical imaging concept
Picture in picture assumes trend from big to small.
Step s201: obtain the current location information of road test vehicle；
Step s202: call the template image data storehouse pre-building；
Step s203: corresponding Prototype drawing is searched in described template image data storehouse by described current location information
Picture；
Step s204: gather frame according to traffic lights set in advance, cutting is carried out to the current the image of crossing of collection, obtain
Image after cutting；
Traffic lights collection in another kind of specific embodiment of road test traffic light identification method as provided by the present invention in Fig. 6
Shown in the schematic diagram of frame.It can be each image information of described template image data storehouse collection that traffic lights set in advance gather frame
The bounding box of traffic lights scope in the maximum boundary frame of middle traffic lights scope, or template image corresponding with current location.
Step s205: the current the image of crossing of collection is contrasted with described template image, determines the traffic lights of road test
State.
It is specifically as follows: feature extraction is carried out to image after described cutting；By the feature extracted and the spy pre-building
Levy judgment threshold to be compared, to determine described lights state.
In case of variable weather conditions, gather the photo of some this traffic lights of width, by the color analysis of picture, form one
Individual metastable red light and green light characteristic threshold value, range parameter can adjust according to discrimination.
With reference to the schematic diagram of another kind of specific embodiment of Fig. 7 road test provided by the present invention traffic light identification method,
Below the specific work process of the embodiment of the present invention is illustrated.When examinee took an examination crossing, Automatic continuous are grabbed by system
Clap (continuous time interval adjusts) picture according to parameter.Each width picture is first got according to the geographical coordinate that it gathers
Close template picture, and the scope of reader traffic lights position in picture, and cutting is carried out to picture.Then cutting is got off
Picture signature search is carried out to it with traffic lights characteristics of objects, pass through the current state analysiss of traffic lights after finding, then
Carry out deduction of points to pass judgment on according to aforesaid scene condition.
Below road test traffic light identification device provided in an embodiment of the present invention is introduced, road test described below is red green
Light identifier and above-described road test traffic light identification method can be mutually to should refer to.
Fig. 8 is the structured flowchart of road test traffic light identification device provided in an embodiment of the present invention, with reference to Fig. 8 road test traffic lights
Identifying device may include that
Acquisition module 100, for obtaining the current location information of road test vehicle；
Calling module 200, for calling the template image data storehouse pre-building, described template image data storehouse comprises pre-
First location point acquired image information multiple in road test region, the positional information phase of described image information and described location point
Corresponding；
Searching modul 300, corresponding for being searched in described template image data storehouse by described current location information
Template image；
Identification module 400, for being contrasted the current the image of crossing of collection with described template image, determines road test
Lights state.
Road test traffic light identification device provided by the present invention, by obtaining the current location information of road test vehicle；Call
The template image data storehouse pre-building, searches corresponding Prototype drawing by current location information in template image data storehouse
Picture；The current the image of crossing of collection is contrasted with template image, is determined the lights state of road test.Provided by the present invention
Road test traffic light identification device, will gather template image with geographical location information in advance as template image data storehouse,
The template image of the current location information according to road test vehicle and correspondence position is compared, can be to the lights state at crossing
Carry out efficiently and rapidly automatic identification, thus realizing the automatization of examinee's action is passed judgment on, intervention that need not be artificial.
In this specification, each embodiment is described by the way of going forward one by one, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment same or similar partly mutually referring to.Fill for disclosed in embodiment
For putting, because it corresponds to the method disclosed in Example, so description is fairly simple, referring to method part in place of correlation
Illustrate.
Professional further appreciates that, in conjunction with the unit of each example of the embodiments described herein description
And algorithm steps, can with electronic hardware, computer software or the two be implemented in combination in, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes composition and the step of each example in the above description according to function.These
Function to be executed with hardware or software mode actually, the application-specific depending on technical scheme and design constraint.Specialty
Technical staff can use different methods to each specific application realize described function, but this realization should
Think beyond the scope of this invention.
The step of the method in conjunction with the embodiments described herein description or algorithm can directly be held with hardware, processor
The software module of row, or the combination of the two is implementing.Software module can be placed in random access memory (ram), internal memory, read-only deposit
Reservoir (rom), electrically programmable rom, electrically erasable rom, depositor, hard disk, moveable magnetic disc, cd-rom or technology
In known any other form of storage medium in field.
Above road test traffic light identification method provided by the present invention and device are described in detail.Herein should
With specific case, the principle of the present invention and embodiment are set forth, the explanation of above example is only intended to help reason
The solution method of the present invention and its core concept.It should be pointed out that for those skilled in the art, without departing from
On the premise of the principle of the invention, the present invention can also be carried out with some improvement and modify, these improve and modification also falls into this
In bright scope of the claims.
Claims (9)
1. a kind of road test traffic light identification method is it is characterised in that include:
Obtain the current location information of road test vehicle；
Call the template image data storehouse pre-building, described template image data storehouse comprises multiple positions in road test region in advance
Put an acquired image information, described image information is corresponding with the positional information of described location point；
Corresponding template image is searched in described template image data storehouse by described current location information；
The current the image of crossing of collection is contrasted with described template image, is determined the lights state of road test.
2. road test traffic light identification method as claimed in claim 1 is it is characterised in that the present bit of described acquisition road test vehicle
Confidence breath includes:
Obtain the current location information of described road test vehicle by high accuracy satellite fix.
3. road test traffic light identification method as claimed in claim 2 is it is characterised in that described template image data storehouse is in advance
Multiple location point acquired image information in road test region, described location point is evenly distributed in described road test region.
4. the road test traffic light identification method as described in any one of claims 1 to 3 it is characterised in that described by collection
Current the image of crossing is also included before being contrasted with described template image:
Gather frame according to traffic lights set in advance, cutting is carried out to the current the image of crossing of collection, obtains image after cutting.
5. road test traffic light identification method as claimed in claim 4 is it is characterised in that described traffic lights set in advance gather
Frame be the collection of described template image data storehouse each image information in traffic lights scope maximum boundary frame, or with current location pair
The bounding box of traffic lights scope in the template image answered.
6. road test traffic light identification method as claimed in claim 4 it is characterised in that described will collection current the image of crossing
Contrasted with described template image, determined that the lights state of road test includes:
Feature extraction is carried out to image after described cutting；
The feature extracted is compared with the feature judgment threshold pre-building, to determine described lights state.
7. road test traffic light identification method as claimed in claim 6 is it is characterised in that described feature judgment threshold is by right
The threshold value that the image information determination of collection under the conditions of different weather obtains.
8. road test traffic light identification method as claimed in claim 7 it is characterised in that described determine road test traffic lights shape
Also include after state:
According to described lights state and scene condition, the user of current road test vehicle is carried out with deduction of points to pass judgment on.
9. a kind of road test traffic light identification device is it is characterised in that include:
Acquisition module, for obtaining the current location information of road test vehicle；
Calling module, for calling the template image data storehouse pre-building, described template image data storehouse comprises in advance on road
Multiple location point acquired image information in the domain of examination district, described image information is corresponding with the positional information of described location point；
Searching modul, for searching corresponding Prototype drawing by described current location information in described template image data storehouse
Picture；
Identification module, for being contrasted the current the image of crossing of collection with described template image, determines the traffic lights of road test
State.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610743312.0A CN106339683A (en) | 2016-08-27 | 2016-08-27 | Road test traffic light identification method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610743312.0A CN106339683A (en) | 2016-08-27 | 2016-08-27 | Road test traffic light identification method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106339683A true CN106339683A (en) | 2017-01-18 |
Family
ID=57822847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610743312.0A Pending CN106339683A (en) | 2016-08-27 | 2016-08-27 | Road test traffic light identification method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106339683A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108550301A (en) * | 2018-04-23 | 2018-09-18 | 济南浪潮高新科技投资发展有限公司 | A kind of method and apparatus of the driving path examination of technical ability auto-scoring based on deep learning |
| CN110221324A (en) * | 2019-05-28 | 2019-09-10 | 上海车轮互联网服务有限公司 | Data processing method used for positioning and device |
| CN112507956A (en) * | 2020-12-21 | 2021-03-16 | 北京百度网讯科技有限公司 | Signal lamp identification method and device, electronic equipment, road side equipment and cloud control platform |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201417516Y (en) * | 2009-06-22 | 2010-03-03 | 南京多伦科技有限公司 | Three-automatic test system of automobile driver subject |
| CN101950478A (en) * | 2010-08-24 | 2011-01-19 | 宇龙计算机通信科技(深圳)有限公司 | Method, system and mobile terminal for prompting traffic light status information |
| CN102306293A (en) * | 2011-07-29 | 2012-01-04 | 南京多伦科技有限公司 | Method for judging driver exam in actual road based on facial image identification technology |
| CN102789718A (en) * | 2011-05-20 | 2012-11-21 | 柳州桂通科技有限公司 | Automatic invigilation scoring device for random vehicle driving test process and realization method thereof |
| CN103594008A (en) * | 2013-10-29 | 2014-02-19 | 南京多伦科技股份有限公司 | Road test judgment method based on technology combining Beidou positioning with digital modeling |
| CN103854539A (en) * | 2012-12-07 | 2014-06-11 | 永泰软件有限公司 | Electronic road test monitoring system based on video analysis |
| CN105894829A (en) * | 2016-02-25 | 2016-08-24 | 山东海格尔信息技术股份有限公司 | Driving test signal lamp judgment system and method |
-
2016
- 2016-08-27 CN CN201610743312.0A patent/CN106339683A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201417516Y (en) * | 2009-06-22 | 2010-03-03 | 南京多伦科技有限公司 | Three-automatic test system of automobile driver subject |
| CN101950478A (en) * | 2010-08-24 | 2011-01-19 | 宇龙计算机通信科技(深圳)有限公司 | Method, system and mobile terminal for prompting traffic light status information |
| CN102789718A (en) * | 2011-05-20 | 2012-11-21 | 柳州桂通科技有限公司 | Automatic invigilation scoring device for random vehicle driving test process and realization method thereof |
| CN102306293A (en) * | 2011-07-29 | 2012-01-04 | 南京多伦科技有限公司 | Method for judging driver exam in actual road based on facial image identification technology |
| CN103854539A (en) * | 2012-12-07 | 2014-06-11 | 永泰软件有限公司 | Electronic road test monitoring system based on video analysis |
| CN103594008A (en) * | 2013-10-29 | 2014-02-19 | 南京多伦科技股份有限公司 | Road test judgment method based on technology combining Beidou positioning with digital modeling |
| CN105894829A (en) * | 2016-02-25 | 2016-08-24 | 山东海格尔信息技术股份有限公司 | Driving test signal lamp judgment system and method |
Non-Patent Citations (1)
| Title |
|---|
| 程春亮: ""数据融合技术在路考系统中的研究与应用"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108550301A (en) * | 2018-04-23 | 2018-09-18 | 济南浪潮高新科技投资发展有限公司 | A kind of method and apparatus of the driving path examination of technical ability auto-scoring based on deep learning |
| CN110221324A (en) * | 2019-05-28 | 2019-09-10 | 上海车轮互联网服务有限公司 | Data processing method used for positioning and device |
| CN110221324B (en) * | 2019-05-28 | 2021-04-27 | 上海车轮互联网服务有限公司 | Data processing method and device for positioning |
| CN112507956A (en) * | 2020-12-21 | 2021-03-16 | 北京百度网讯科技有限公司 | Signal lamp identification method and device, electronic equipment, road side equipment and cloud control platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7155321B2 (en) | Crack analysis data editing device, crack analysis data editing method, and crack analysis data editing program | |
| CN109059954B (en) | Method and system for supporting high-precision map lane line real-time fusion update | |
| Morishita et al. | Sakurasensor: quasi-realtime cherry-lined roads detection through participatory video sensing by cars | |
| JP4746137B2 (en) | Apparatus, method, and computer program for determining position based on camera image from camera | |
| CN109801282A (en) | Pavement behavior detection method, processing method, apparatus and system | |
| CN105608417B (en) | Traffic lights detection method and device | |
| CN105674993A (en) | Binocular camera-based high-precision visual sense positioning map generation system and method | |
| CN104700404A (en) | Fruit location identification method | |
| CN109583415A (en) | A kind of traffic lights detection and recognition methods merged based on laser radar with video camera | |
| CN110146097A (en) | Method and system for generating automatic driving navigation map, vehicle-mounted terminal and server | |
| JP2020191081A (en) | Method and device for detecting parking violation, electronic apparatus, and computer readable medium | |
| CN109903574B (en) | Method and device for acquiring intersection traffic information | |
| CN106845321A (en) | The treating method and apparatus of pavement markers information | |
| CN105718872A (en) | Auxiliary method and system for rapid positioning of two-side lanes and detection of deflection angle of vehicle | |
| Hinz | Detection and counting of cars in aerial images | |
| CN106960210A (en) | The method and apparatus of target detection | |
| CN106251695A (en) | Destination's parking stall intelligent recommendation system and method based on parking space state monitoring | |
| WO2021017211A1 (en) | Vehicle positioning method and device employing visual sensing, and vehicle-mounted terminal | |
| CN111174777A (en) | Positioning method and device and electronic equipment | |
| CN106339683A (en) | Road test traffic light identification method and device | |
| CN111582255A (en) | Vehicle overrun detection method and device, computer equipment and storage medium | |
| CN111400533A (en) | Image screening method and device, electronic equipment and storage medium | |
| CN113255578B (en) | Traffic identification recognition method and device, electronic equipment and storage medium | |
| CN112418081B (en) | Method and system for quickly surveying traffic accidents by air-ground combination | |
| CN114067288A (en) | Traffic sign extraction method and system, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170118 |