CN106740842A - A kind of petroleum economizer and method for self-adaption cruise system - Google Patents

A kind of petroleum economizer and method for self-adaption cruise system Download PDF

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Publication number
CN106740842A
CN106740842A CN201611116668.8A CN201611116668A CN106740842A CN 106740842 A CN106740842 A CN 106740842A CN 201611116668 A CN201611116668 A CN 201611116668A CN 106740842 A CN106740842 A CN 106740842A
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CN
China
Prior art keywords
crossing
information
traffic lamp
crossing traffic
vehicle
Prior art date
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CN201611116668.8A
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Chinese (zh)
Inventor
孙超
Original Assignee
浙江吉利控股集团有限公司
浙江吉利汽车研究院有限公司
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Priority to CN201611116668.8A priority Critical patent/CN106740842A/en
Publication of CN106740842A publication Critical patent/CN106740842A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/06Combustion engines, Gas turbines
    • B60W2710/0644Engine speed

Abstract

The invention provides a kind of petroleum economizer and method for self-adaption cruise system, belong to technical field of vehicle.The device includes:Navigation system, for providing route information and crossing positional information for vehicle adaptive cruise;Camera, for collecting the crossing traffic lamp image information;Graphics processing unit, for processing described image information, to judge the crossing traffic lamp information;Self-adaption cruise system control unit, collects and according to the route information, crossing positional information, the crossing traffic lamp information and from car information, judges the power output demand of the vehicle, to control the vehicle by the crossing.Petroleum economizer and method that the present invention is provided, pull to reduce speed to greatest extent using engine itself, braking intervention are reduced as far as possible, it is also possible to improve occupant comfort, can be effectively reduced oil consumption of the vehicle when urban district uses self-adaption cruise system.

Description

A kind of petroleum economizer and method for self-adaption cruise system

Technical field

The present invention relates to technical field of vehicle, more particularly to a kind of petroleum economizer and side for self-adaption cruise system Method.

Background technology

Self-adaption cruise system is then a kind of intelligentized automatic control system, and it is sent out in constant-speed-cruise control system Exhibition.In vehicle travel process, the spacing sensor (radar) installed in front part of vehicle persistently scans vehicle road ahead Situation.If duck vehicle and speed is lower than the cruise speed set from car, self-adaption cruise system can visit radar The GES that the front vehicles information combination wheel speed sensors for measuring are provided calculates the time needed with front truck collision, if meter Calculation value sets threshold values less than system, then adaptive learning algorithms unit moment of torsion or will directly ask vehicle by engine reduction Dynamic stabilization system is braked, until speed drop to it is identical with front truck, next can before vehicle speed be cruised.If front The cruise speed set from car without target carriage or target carriage speed ratio is high, and cruise will be carried out with the speed for setting from car.

In recent years, self-adaption cruise system has become the prioritizing selection of active safety configuration, is that user alleviates driving Intensity simultaneously improves driving safety.Intelligent automobile equipped with adaptive cruise control system, is differentiated by radar and computer Near vehicle is that bicycle, automobile or pedestrian control vehicle running state according to road conditions, is completely or partially replaced The operation of driver.But because adaptive cruise is related to frequently accelerate and brakes when urban district uses, oil consumption can be caused Raise, this is disagreed with current energy crisis with environmental protection theory so that the popularization of self-adaption cruise system is restricted.

Therefore, how to reduce and use the oil consumption of self-adaption cruise system as letter problem to be solved in urban district.

The content of the invention

It is an object of the present invention to provide a kind of petroleum economizer and method for self-adaption cruise system, effectively drop Oil consumption of the low vehicle when urban district uses self-adaption cruise system.

Especially, the present invention provides a kind of petroleum economizer for self-adaption cruise system, including:

Navigation system, for providing route information and crossing positional information for vehicle adaptive cruise;

Camera, for collecting the crossing traffic lamp image information;

Graphics processing unit, for processing described image information, to judge the crossing traffic lamp information;

Self-adaption cruise system control unit, collects and is handed over according to the route information, crossing positional information, the crossing Lead to lamp information and from car information, judge the power output demand of the vehicle, to control the vehicle to pass through the crossing;

Wherein, the self-adaption cruise system control unit is configured to:During by crossing, if the crossing traffic lamp is believed It is green light to cease, and controls the vehicle according to state cruise when being introduced into crossing by crossing;If the crossing traffic lamp information It is red light, recognizes the stopping of red light moment to engine torque request in the camera, and braking system is asked in predetermined instant System is braked.

Further, it is described to include turning to modulating signal, the self-adaption cruise system control unit quilt from car from car information It is configured to:Modulating signal is turned to from car then judge that the vehicle will be turned to described in receiving;Do not receive described from car steering indicating light Signal will keep straight on.

Further, the camera is opened when the vehicle for receiving the navigation system transmission is in intersection information Beginning is collected the crossing traffic lamp image information;The camera is receiving the vehicle that the navigation system sends Stop being collected the crossing traffic lamp image information when leaving intersection information.

Further, described image processing unit processes process includes:The crossing traffic lamp image is intercepted, it is right The crossing traffic lamp image after interception carries out color segmentation, to color segmentation after the crossing traffic lamp image drop Make an uproar treatment, carry out masterplate contrast.

Further, when being intercepted to the crossing traffic lamp image, the predetermined height of the crossing traffic lamp image is intercepted Picture more than degree.

Further, the predetermined altitude is 2 meters.

Further, to interception after crossing traffic lamp image when carrying out color segmentation, only red is extracted, It is not red all images to remove on the crossing traffic lamp image.

Further, to color segmentation after crossing traffic lamp image when carrying out noise reduction process, remove the crossing Discontinuous figure or the few figure of pixel in traffic lights image.

Further, when carrying out masterplate contrast, if red light picture, to circle or arrow in the crossing traffic lamp image Head dummy picture carries out the contrast degree of approximation, if not red light picture, does not then carry out masterplate contrast, and is directly judged as non-red light letter Number.

Further, the threshold values of the degree of approximation is more than 0.8.

Especially, present invention also offers a kind of fuel saving method for self-adaption cruise system, using above-mentioned fuel-economizing Device, comprises the following steps:

The route information and crossing positional information for using navigation system offer are the automobile navigation;

The crossing traffic lamp image information is collected using camera;

The crossing traffic lamp information is judged by graphics processing unit;

By self-adaption cruise system control unit according to the route information, crossing positional information, the crossing traffic Lamp information and from car information, judges the power output demand of the vehicle, to control the vehicle to pass through the crossing;

Wherein, the self-adaption cruise system control unit is configured to:During by crossing, if the crossing traffic lamp is believed It is green light to cease, and controls the vehicle according to state cruise when being introduced into crossing by crossing;If the crossing traffic lamp information It is red light, recognizes the stopping of red light moment to engine torque request in the camera, and braking system is asked in predetermined instant System is braked.

Further, described image processing unit judges that the crossing traffic lamp information is comprised the following steps:

The crossing traffic lamp image is intercepted, figure more than the crossing traffic lamp image predetermined altitude is intercepted Piece;

The crossing traffic lamp image after to interception carries out color segmentation, and only red is extracted, described to remove It is not red all images on crossing traffic lamp image;

The crossing traffic lamp image after to color segmentation carries out noise reduction process, in the removal crossing traffic lamp image Discontinuous figure or the few figure of pixel;

Carry out masterplate contrast, if red light picture, to the crossing traffic lamp image in circular or arrowhead-shaped picture enter The row contrast degree of approximation;Alternatively, the threshold values of the degree of approximation is more than 0.8;If not red light picture, then masterplate contrast is not carried out, And directly it is judged as non-red signal.

A kind of petroleum economizer for self-adaption cruise system that the present invention is provided, by by self-adaption cruise system control Unit is collected and according to the route information, crossing positional information, the crossing traffic lamp information and from car information, judges institute The power output demand of vehicle is stated, to control the vehicle to pass through the crossing so that vehicle is adaptive when by red light crossing Answer cruise system control unit to be capable of the power demand of real-time judge vehicle, in time control vehicle interrupt moment of torsion input, i.e., according to By engine towing astern reduction speed so that vehicle can pull to reduce speed to greatest extent using engine itself, to the greatest extent may be used Braking intervention can be reduced, it is also possible to improve occupant comfort.

A kind of petroleum economizer for self-adaption cruise system that the present invention is provided, opens adaptive cruise and passes through traffic road The fuel-saving technique of mouth, can be effectively reduced vehicle and the oil consumption of self-adaption cruise system is used when urban district is by traffic intersection.

Brief description of the drawings

Describe some specific embodiments of the invention in detail by way of example, and not by way of limitation with reference to the accompanying drawings hereinafter. Identical reference denotes same or similar part or part in accompanying drawing.It should be appreciated by those skilled in the art that these What accompanying drawing was not necessarily drawn to scale.In accompanying drawing:

Fig. 1 is the general structural frames of the petroleum economizer for self-adaption cruise system according to invention one embodiment Figure;

Fig. 2 is the picture after graphics processing unit according to an embodiment of the invention is intercepted;

Fig. 3 is the picture after graphics processing unit according to an embodiment of the invention is processed.

Specific embodiment

To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to attached Figure, the present invention will be described in detail.

Fig. 1 is the general structural frames of the petroleum economizer for self-adaption cruise system according to invention one embodiment Figure.As shown in figure 1, a kind of petroleum economizer for self-adaption cruise system that the present invention is provided, including:Navigation system 1, shooting First 2, graphics processing unit 3, self-adaption cruise system control unit 4, brakes 8 and engine 6.Navigation system 1 is used for Vehicle adaptive cruise provides route information and crossing positional information.Camera 2 is used to collect the crossing traffic lamp image letter Breath.Graphics processing unit 3 is used to process described image information, to judge the crossing traffic lamp information.Self adaptation is patrolled Boat system control unit 4 is collected and according to the route information, crossing positional information, the crossing traffic lamp information and from car Information, judges the power output demand of the vehicle, to control the vehicle to pass through the crossing.Self-adaption cruise system is controlled Unit 4 is configured to:During by crossing, if crossing traffic lamp information is green light, when controlling the vehicle according to crossing is introduced into State cruise pass through crossing;If crossing traffic lamp information is red light, the stopping of red light moment is recognized to hair in the camera Motivation torque request, and braked in predetermined instant request brakes.

Specifically, self-adaption cruise system is then a kind of intelligentized automatic control system, and it is in constant-speed-cruise control Developed in system.In vehicle travel process, the spacing sensor (radar) installed in front part of vehicle persistently scans vehicle Road ahead situation.If duck vehicle and speed is lower than the cruise speed set from car, self-adaption cruise system meeting The GES that front vehicles information combination wheel speed sensors that radar detection is arrived are provided calculate with front truck collision need when Between, if calculated value sets threshold values less than system, adaptive learning algorithms unit will be by engine reduction moment of torsion or straight Connect request vehicle dynamic stabilization system braked, until speed drop to it is identical with front truck, next can before vehicle speed carry out Cruise.If front is high without the cruise speed that target carriage or target carriage speed ratio are set from car, will be entered with the speed for setting from car Row cruise.

In the present invention, camera 2 receive navigation system 1 transmission the vehicle be in intersection information when start into Row collects the crossing traffic lamp image information.Camera 2 leaves crossing letter in the vehicle for receiving the transmission of navigation system 1 Stop being collected the crossing traffic lamp image information during breath.After crossing traffic lamp image information is received, image procossing The processing procedure of unit 3 is comprised the following steps:

S1, intercepts to the crossing traffic lamp image, intercepts more than the crossing traffic lamp image predetermined altitude Picture.Because traffic lights height can only retain more than 2 meters pictures and be for further processing more than 2 meters, by interception, can have Effect improves traffic lights and extracts accuracy rate.The picture of S1 steps interception is as shown in Fig. 2 Fig. 2 is according to one implementation of the present invention Example graphics processing unit intercepted after picture.In fig. 2, traffic signals modulating signal 10 and traffic signals modulating signal 11 are Red arrow, traffic signals modulating signal 12 is the arrow of green.Of course, traffic signals modulating signal is circular or arrowhead-shaped This step S1 is not affected to intercept the crossing traffic lamp image.

S2, to interception after the crossing traffic lamp image carry out color segmentation, only red is extracted, to remove It is not red all images to state on crossing traffic lamp image.Only extracted by red, be not red institute on removal picture Have an image, specific method be using HIS colour models, wherein, H (English is hue) representation in components is colourity letter;(English is I Intensity what is) represented is the intensity of light;S (English is saturation) represents the saturation degree of color.It is specific real at one Apply in mode, the value according to each component of experiment is:H:0-17 or 335-360;I:More than 0;S:More than 0.2.Through over-segmentation Rear picture as shown in figure 3, Fig. 3 is graphics processing unit according to an embodiment of the invention processed after picture. In Fig. 3, only retain the traffic signals modulating signal 10 and traffic signals modulating signal 11 of red, other are all divided and are processed as black. The all black of picture if not having red in picture after dividing processing, circular traffic lights also enter according to same method Row treatment.

S3, to color segmentation after the crossing traffic lamp image carry out noise reduction process, remove the crossing traffic lamp figure Discontinuous figure or the few figure of pixel as in.For example hollow figure of discontinuous figure of removal, or non-circular or arrow The figure of head dummy.By the accuracy judged traffic lights information can be effectively improved after noise reduction process.

S4, carries out masterplate contrast.If being now red light picture, i.e., by including red in the picture after noise reduction process Circular or arrowhead-shaped pattern, then circular in last picture or arrow-shaped picture is carried out being contrasted with circle or arrow, Seeking template can be approximately identical with graphics shape after zooming in or out, and the threshold requirements of the degree of approximation reach more than 0.8.If now It is not red light picture, i.e., by including red circular or arrowhead-shaped pattern in the picture after noise reduction process, passes through in other words The picture crossed after noise reduction process is whole black, then do not carry out template contrast, directly sends non-red signal.

After the treatment of graphics processing unit 3 judges, the letter of the traffic lights at current crossing can be accurately obtained Breath, so that vehicle can voluntarily know the information of traffic lights, and controls the traveling process of vehicle according to the information.This Invention the petroleum economizer for self-adaption cruise system, combined with camera information using GPS navigation, judge vehicle whether position In crossing and the traffic lights situation at the crossing, if navigation sends front for intersection information, camera synchronization process is collected Traffic lights information, if traffic lights for green, normaled cruise by original self-adaption cruise system strategy, if Traffic lights is red, then self-adaption cruise system is to recognize the red light moment in camera to stop to the torque request of engine 6, with Stop torque output 7, and carve request braking system 8 in due course to carry out braking 9.

In a specific embodiment, the petroleum economizer for self-adaption cruise system of the invention, additionally it is possible to tie Close steering or the straight trip demand that modulating signal is analyzed vehicle of turning to.Alternatively, include being transmitted from car sensor 5 from car information Turn to modulating signal from car, self-adaption cruise system control unit 4 is configured to:Receive and then judge to recognize from car steering modulating signal For the vehicle will be turned to;Turning to modulating signal from car described in not receiving will keep straight on.Now, for self-adaption cruise system Petroleum economizer can simultaneously extract traffic lights information at crossing, control vehicle drives through according to traffic lights information Crossing.

In actual use, navigation information updating in the navigation system 1 of vehicle feelings not in time be can be potentially encountered Condition.If run into the situation, then the crossing traffic lamp picture processing information being only collected into camera as foundation, so as to derive from Adapt to cruise system control vehicle traveling.

A kind of petroleum economizer for self-adaption cruise system that the present invention is provided, by by self-adaption cruise system control Unit is collected and according to the route information, crossing positional information, the crossing traffic lamp information and from car information, judges institute The power output demand of vehicle is stated, to control the vehicle to pass through the crossing so that vehicle is adaptive when by red light crossing Answer cruise system control unit to be capable of the power demand of real-time judge vehicle, in time control vehicle interrupt moment of torsion input, i.e., according to By engine towing astern reduction speed so that vehicle can pull to reduce speed to greatest extent using engine itself, to the greatest extent may be used Braking intervention can be reduced, it is also possible to improve occupant comfort.

A kind of petroleum economizer for self-adaption cruise system that the present invention is provided, opens adaptive cruise and passes through traffic road The fuel-saving technique of mouth, can be effectively reduced vehicle and the oil consumption of self-adaption cruise system is used when urban district is by traffic intersection.

Additionally, a kind of petroleum economizer for self-adaption cruise system that the present invention is provided, reduces and uses cruise system Danger during adjustment speed improves simple operation.Traffic lights information recognizing function, analytic in the petroleum economizer can also expand The functions such as control air-conditioning, multimedia, GPS navigation are opened up, autgmentability is extremely strong, and the base of intelligent sound control can be realized after being also Plinth, future has preferable application prospect.

Present invention also offers a kind of fuel saving method for self-adaption cruise system, filled using foregoing fuel-economizing Put, comprise the following steps:

The route information and crossing positional information for using the offer of navigation system 1 are the automobile navigation;

The crossing traffic lamp image information is collected using camera 2;

The crossing traffic lamp information is judged by graphics processing unit 3;

By self-adaption cruise system control unit 4 according to the route information, crossing positional information, the crossing traffic Lamp information and from car information, judges the power output demand of the vehicle, to control the vehicle to pass through the crossing;

Wherein, the self-adaption cruise system control unit 4 is configured to:During by crossing, if the crossing traffic lamp Information is green light, controls the vehicle according to state cruise when being introduced into crossing by crossing;If the crossing traffic lamp letter It is red light to cease, and recognizes the stopping of red light moment to engine torque request in camera 2, and ask brakes in predetermined instant Braked.

In a kind of fuel saving method for self-adaption cruise system that the present invention is provided, graphics processing unit 3 judges institute Crossing traffic lamp information is stated to comprise the following steps:

The crossing traffic lamp image is intercepted, figure more than the crossing traffic lamp image predetermined altitude is intercepted Piece;

The crossing traffic lamp image after to interception carries out color segmentation, and only red is extracted, described to remove It is not red all images on crossing traffic lamp image;

The crossing traffic lamp image after to color segmentation carries out noise reduction process, in the removal crossing traffic lamp image Discontinuous figure or the few figure of pixel;

Carry out masterplate contrast, if red light picture, to the crossing traffic lamp image in circular or arrowhead-shaped picture enter The row contrast degree of approximation;Alternatively, the threshold values of the degree of approximation is more than 0.8;If not red light picture, then masterplate contrast is not carried out, And directly it is judged as non-red signal.

Additionally, the danger reduced when adjusting speed using cruise system that the present invention is provided improves simple operation Property.The identification function extends also to the functions such as control air-conditioning, multimedia, GPS navigation, and autgmentability is extremely strong, can after being also The basis of intelligent sound control is realized, future has preferable application prospect.

So far, although those skilled in the art will appreciate that herein it is detailed have shown and described it is of the invention exemplary Embodiment, but, without departing from the spirit and scope of the present invention, still can directly be determined according to present disclosure Or derive many other variations or modifications for meeting the principle of the invention.Therefore, the scope of the invention should be understood and defined as Cover all these other variations or modifications.

Claims (10)

1. a kind of petroleum economizer for self-adaption cruise system, it is characterised in that including:
Navigation system, for providing route information and crossing positional information for vehicle adaptive cruise;
Camera, for collecting the crossing traffic lamp image information;
Graphics processing unit, for processing described image information, to judge the crossing traffic lamp information;
Self-adaption cruise system control unit, collects and according to the route information, crossing positional information, the crossing traffic lamp Information and from car information, judges the power output demand of the vehicle, to control the vehicle to pass through the crossing;
Wherein, the self-adaption cruise system control unit is configured to:During by crossing, if the crossing traffic lamp information is Green light, controls the vehicle according to state cruise when being introduced into crossing by crossing;If the crossing traffic lamp information is red Lamp, the stopping of red light moment is recognized to engine torque request in the camera, and is entered in predetermined instant request brakes Row braking.
2. petroleum economizer according to claim 1, it is characterised in that described to include turning to modulating signal from car from car information, The self-adaption cruise system control unit is configured to:Modulating signal is turned to from car then judge that the vehicle will described in receiving Turn to;Turning to modulating signal from car described in not receiving will keep straight on.
3. petroleum economizer according to claim 1, it is characterised in that the camera is receiving the navigation system hair The vehicle for sending proceeds by the collection crossing traffic lamp image information when being in intersection information;The camera is receiving Stop being collected the crossing traffic lamp image information when vehicle sent to the navigation system leaves intersection information.
4. petroleum economizer according to claim 1, it is characterised in that described image processing unit processes process includes:It is right The crossing traffic lamp image intercepted, to interception after the crossing traffic lamp image carry out color segmentation, to color point The crossing traffic lamp image after cutting carries out noise reduction process, carries out masterplate contrast.
5. petroleum economizer according to claim 4, it is characterised in that when being intercepted to the crossing traffic lamp image, Picture more than the crossing traffic lamp image predetermined altitude is intercepted, alternatively, the predetermined altitude is 2 meters.
6. petroleum economizer according to claim 4, it is characterised in that the crossing traffic lamp image after to interception is carried out During color segmentation, only red is extracted, be not red all images to remove on the crossing traffic lamp image.
7. petroleum economizer according to claim 4, it is characterised in that the crossing traffic lamp image after to color segmentation When carrying out noise reduction process, the discontinuous figure or the few figure of pixel in the crossing traffic lamp image are removed.
8. petroleum economizer according to claim 4, it is characterised in that when carrying out masterplate and contrasting, if red light picture, to institute The circular or arrowhead-shaped picture stated in crossing traffic lamp image carries out the contrast degree of approximation;Alternatively, the threshold values of the degree of approximation is big In 0.8;If not red light picture, then masterplate contrast is not carried out, and be directly judged as non-red signal.
9. a kind of fuel saving method for self-adaption cruise system, it is characterised in that using such as any one of claim 1-8 institutes The petroleum economizer stated, comprises the following steps:
The route information and crossing positional information for using navigation system offer are the automobile navigation;
The crossing traffic lamp image information is collected using camera;
The crossing traffic lamp information is judged by graphics processing unit;
Believed according to the route information, crossing positional information, the crossing traffic lamp by self-adaption cruise system control unit Cease and from car information, judge the power output demand of the vehicle, to control the vehicle to pass through the crossing;
Wherein, the self-adaption cruise system control unit is configured to:During by crossing, if the crossing traffic lamp information is Green light, controls the vehicle according to state cruise when being introduced into crossing by crossing;If the crossing traffic lamp information is red Lamp, the stopping of red light moment is recognized to engine torque request in the camera, and is entered in predetermined instant request brakes Row braking.
10. fuel saving method according to claim 9, it is characterised in that described image processing unit judges that the crossing is handed over Logical lamp information is comprised the following steps:
The crossing traffic lamp image is intercepted, picture more than the crossing traffic lamp image predetermined altitude is intercepted;
The crossing traffic lamp image after to interception carries out color segmentation, only red is extracted, to remove the crossing It is not red all images on traffic lights image;
The crossing traffic lamp image after to color segmentation carries out noise reduction process, in the removal crossing traffic lamp image not Row graph or the few figure of pixel;
Carry out masterplate contrast, if red light picture, to the crossing traffic lamp image in circular or arrowhead-shaped picture carry out it is right Compare the degree of approximation;Alternatively, the threshold values of the degree of approximation is more than 0.8;If not red light picture, then masterplate contrast is not carried out, and directly Connect and be judged as non-red signal.
CN201611116668.8A 2016-12-07 2016-12-07 A kind of petroleum economizer and method for self-adaption cruise system CN106740842A (en)

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CN108564802A (en) * 2018-06-19 2018-09-21 芜湖岭上信息科技有限公司 A kind of traffic signals light identifier and method based on image
GB2572448A (en) * 2018-03-30 2019-10-02 Jaguar Land Rover Ltd Vehicle control method and apparatus

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CN106004438A (en) * 2016-07-19 2016-10-12 广汽菲亚特克莱斯勒汽车有限公司 Linking method and system for vehicle-mounted intelligent traffic light

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JP2011070299A (en) * 2009-09-24 2011-04-07 Fuji Heavy Ind Ltd Driving support device for vehicle
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Publication number Priority date Publication date Assignee Title
GB2572448A (en) * 2018-03-30 2019-10-02 Jaguar Land Rover Ltd Vehicle control method and apparatus
CN108564802A (en) * 2018-06-19 2018-09-21 芜湖岭上信息科技有限公司 A kind of traffic signals light identifier and method based on image

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