CN108090413A - A kind of traffic mark board correlating method and device - Google Patents
A kind of traffic mark board correlating method and device Download PDFInfo
- Publication number
- CN108090413A CN108090413A CN201711163394.2A CN201711163394A CN108090413A CN 108090413 A CN108090413 A CN 108090413A CN 201711163394 A CN201711163394 A CN 201711163394A CN 108090413 A CN108090413 A CN 108090413A
- Authority
- CN
- China
- Prior art keywords
- road
- board
- sign
- track
- control
- 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
- 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
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Databases & Information Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Navigation (AREA)
Abstract
The present invention relates to a kind of traffic mark board correlating methods and device, method to include：It gathers the sign board image above both sides of the road and road and extracts the characteristic information of the sign board；According to the characteristic information, the sign board and the road in high-precision electronic map or track are associated.The present invention can greatly improve the processing speed in traffic mark board association control road/track.
Description
Technical field
The present invention relates to vehicle mounted guidance technical fields, and in particular to a kind of traffic mark board and road based on high-precision map
Road or the correlating method and device in track.
Background technology
With the progressively application towards active safety and unpiloted next-generation high-precision navigation map, map datum from
The navigation on basis, guiding function progressively move towards the Premium Features of Body Control and active safety, the Route guiding work(of track rank
It can be fully applicable to the advanced automatic Pilot of vehicle.Active safety and unpiloted primary demand are met with this.
In high-precision map manufacturing process, control road can be associated to the traffic mark board gathered from real road
The processing in road/track finally constitutes the digital map data of vector quantization.Current processing method is that each sign board will be manual
Association type and relating dot are set, and compiler is according to the position of association type and relating dot, the road that judgement symbol board is acted on
Road or track.The processing speed in traffic mark board association control road/track is low.
The content of the invention
The present invention is directed to technical problem in the prior art, provides a kind of traffic mark board correlating method and device,
The processing speed in traffic mark board association control road/track can be greatlyd improve.
On the one hand the present invention provides a kind of traffic mark board correlating method to solve above-mentioned technical problem, including following step
Suddenly：
Step 1, gather the sign board image above both sides of the road and road and extract the characteristic information of the sign board；
Step 2, according to the characteristic information, the road in the sign board and high-precision electronic map or track are carried out
Association.
Further, the characteristic information includes the instruction content information of sign board and the spatial positional information of sign board.
Further, described in step 2 according to the characteristic information, will the sign board in high-precision electronic map
Road or track are associated, including：
Step 201, the direction board is divided by control road sign, control vehicle according to the instruction content information of sign board
Road sign board and control track three classifications of road sign；
Step 202, according to nearby principle, the control road sign is associated to the closest road in spatial position
Road associates the control lane markings board to the closest track in spatial position；The nearby principle refers to calculation flag board
Spatial position coordinate to the vertical range of road axis or each lane center, sign board is associated to the minimum road of distance
Road or track；
Step 203, extract the control track road sign spatial positional information, and according to the spatial position
Information, by it is described control track road sign associate to corresponding track or road.
Further, the step 203, including：
Extract it is described control track road sign spatial positional information,
If the control track road sign be located at both sides of the road, according to nearby principle, by the sign board associate to
The closest road in spatial position,
If it is described control track road sign be located at road top, judge the sign board both sides pre-determined distance scope
Inside whether also there are other same type sign boards, according to nearby principle, which is associated if there is no if to spatial position
If the location information according to the sign board in the presence of if, which is associated to spatial position distance most for closest road
Near track.
The beneficial effects of the invention are as follows：The processing speed in traffic mark board association control road/track can be greatlyd improve
Degree.
Another aspect of the present invention provides a kind of traffic mark board associated apparatus, including：
Image Acquisition and characteristic extracting module, for gathering the sign board image above both sides of the road and road and extracting institute
State the characteristic information of sign board；
Relating module, for according to the characteristic information, by the road in the sign board and high-precision electronic map or
Track is associated.
Further, the characteristic information includes the instruction content information of sign board and the spatial positional information of sign board.
Further, the relating module is specifically used for：
The direction board is divided by control road sign, control lane markings board according to the instruction content information of sign board
With control track three classifications of road sign；
According to nearby principle, the control road sign is associated to the closest road in spatial position, by described in
Control lane markings board is associated to the closest track in spatial position；The nearby principle refers to the spatial position of calculation flag board
Coordinate associates sign board to the minimum road of distance or track to the vertical range of road axis or each lane center；
Extract the control track road sign spatial positional information, and according to the spatial positional information, by institute
State it is described control track road sign associate to corresponding track or road.
Further, the extraction control track road sign spatial positional information, and according to the space bit
Confidence cease, by it is described control track road sign associate to corresponding track or road, including：
Extract it is described control track road sign spatial positional information,
If the control track road sign be located at both sides of the road, according to nearby principle, by the sign board associate to
The closest road in spatial position,
If it is described control track road sign be located at road top, judge the sign board both sides pre-determined distance scope
Inside whether also there are other same type sign boards, according to nearby principle, which is associated if there is no if to spatial position
If the location information according to the sign board in the presence of if, which is associated to spatial position distance most for closest road
Near track.
The beneficial effects of the invention are as follows：The processing speed in traffic mark board association control road/track can be greatlyd improve
Degree.
Description of the drawings
Fig. 1 is a kind of traffic mark board correlating method flow chart provided in an embodiment of the present invention；
Fig. 2 is a kind of traffic mark board associated apparatus structure chart provided in an embodiment of the present invention.
Specific embodiment
The principle of the present invention and feature are described below in conjunction with example, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
Fig. 1 be a kind of traffic mark board correlating method flow chart provided in an embodiment of the present invention, as shown in Figure 1, including with
Lower step：
Step 1, gather the sign board image above both sides of the road and road and extract the characteristic information of the sign board；It is special
Reference breath includes the instruction content information of sign board and the spatial positional information of sign board.
Step 2, according to the characteristic information, the road in the sign board and high-precision electronic map or track are carried out
Association.
Specifically, including following sub-step：
Step 201, the sign board is divided by control road sign, control vehicle according to the instruction content information of sign board
Road sign board and control track three classifications of road sign；
Step 202, according to nearby principle, the control road sign is associated to the closest road in spatial position
Road associates the control lane markings board to the closest track in spatial position；The nearby principle refers to calculation flag board
Spatial position coordinate to the vertical range of road axis or each lane center, sign board is associated to the minimum road of distance
Road or track；
Step 203, extract the control track road sign spatial positional information, and according to the spatial position
Information, by it is described control track road sign associate to corresponding track or road.
Specifically, the step 203, including：
Extract it is described control track road sign spatial positional information,
If the control track road sign be located at both sides of the road, according to nearby principle, by the sign board associate to
The closest road in spatial position,
If it is described control track road sign be located at road top, judge the sign board both sides pre-determined distance scope
Inside whether also there are other same type sign boards, according to nearby principle, which is associated if there is no if to spatial position
If the location information according to the sign board in the presence of if, which is associated to spatial position distance most for closest road
Near track.
The beneficial effects of the invention are as follows：The processing speed in traffic mark board association control road/track can be greatlyd improve
Degree.
Fig. 2 is a kind of traffic mark board associated apparatus structure chart provided in an embodiment of the present invention, as shown in Fig. 2, including：
Image Acquisition and characteristic extracting module, for gathering the sign board image above both sides of the road and road and extracting institute
State the characteristic information of sign board；
Relating module, for according to the characteristic information, by the road in the sign board and high-precision electronic map or
Track is associated.
Further, the characteristic information includes the instruction content information of sign board and the spatial positional information of sign board.
Further, the relating module is specifically used for：
The sign board is divided by control road sign, control lane markings board according to the instruction content information of sign board
With control track three classifications of road sign；
According to nearby principle, the control road sign is associated to the closest road in spatial position, by described in
Control lane markings board is associated to the closest track in spatial position；The nearby principle refers to the spatial position of calculation flag board
Coordinate associates sign board to the minimum road of distance or track to the vertical range of road axis or each lane center；
Extract the control track road sign spatial positional information, and according to the spatial positional information, by institute
State it is described control track road sign associate to corresponding track or road.
Further, the extraction control track road sign spatial positional information, and according to the space bit
Confidence cease, by it is described control track road sign associate to corresponding track or road, including：
Extract it is described control track road sign spatial positional information,
If the control track road sign be located at both sides of the road, according to nearby principle, by the sign board associate to
The closest road in spatial position,
If it is described control track road sign be located at road top, judge the sign board both sides pre-determined distance scope
Inside whether also there are other same type sign boards, according to nearby principle, which is associated if there is no if to spatial position
If the location information according to the sign board in the presence of if, which is associated to spatial position distance most for closest road
Near track.
The beneficial effects of the invention are as follows：The processing speed in traffic mark board association control road/track can be greatlyd improve
Degree.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modifications, equivalent replacements and improvements are made should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of traffic mark board correlating method, it is characterised in that：Comprise the following steps：
Step 1, gather the sign board image above both sides of the road and road and extract the characteristic information of the sign board；
Step 2, according to the characteristic information, the sign board and the road in high-precision electronic map or track are closed
Connection.
2. a kind of traffic mark board correlating method according to claim 1, it is characterised in that：The characteristic information includes mark
The instruction content information of board and the spatial positional information of sign board.
3. a kind of traffic mark board correlating method according to claim 2, it is characterised in that：Described in step 2 according to institute
Characteristic information is stated, the sign board and the road in high-precision electronic map or track are associated, including：
Step 201, the sign board is divided by control road sign, control track mark according to the instruction content information of sign board
Will board and control track three classifications of road sign；
Step 202, according to nearby principle, the control road sign is associated to the closest road in spatial position, it will
The control lane markings board is associated to the closest track in spatial position；The nearby principle refers to the space of calculation flag board
Position coordinates associates sign board to distance minimum road or vehicle to the vertical range of road axis or each lane center
Road；
Step 203, extract the control track road sign spatial positional information, and according to the spatial positional information,
By it is described control track road sign associate to corresponding track or road.
4. a kind of traffic mark board correlating method according to claim 3, it is characterised in that：The step 203, including：
Extract it is described control track road sign spatial positional information,
If it is described control track road sign be located at both sides of the road, according to nearby principle, which is associated to space
The nearest road of positional distance,
If it is described control track road sign be located at road top, judge be in the range of the sign board both sides pre-determined distance
It is no also there are other same type sign boards, according to nearby principle, which is associated if there is no if to spatial position distance
Nearest road if the location information according to the sign board in the presence of if, which is associated closest to spatial position
Track.
5. a kind of traffic mark board associated apparatus, it is characterised in that：Including：
Image Acquisition and characteristic extracting module, for gathering the sign board image above both sides of the road and road and extracting the mark
The characteristic information of will board；
Relating module, for according to the characteristic information, by the road in the sign board and high-precision electronic map or track
It is associated.
6. a kind of traffic mark board associated apparatus according to claim 5, it is characterised in that：The characteristic information includes mark
The instruction content information of board and the spatial positional information of sign board.
7. a kind of traffic mark board associated apparatus according to claim 6, it is characterised in that：The relating module is specifically used
In：
The sign board is divided by control road sign, control lane markings board and control according to the instruction content information of sign board
Track processed three classifications of road sign；
According to nearby principle, the control road sign is associated to the closest road in spatial position, by the control
Lane markings board is associated to the closest track in spatial position；The nearby principle refers to the spatial position coordinate of calculation flag board
To the vertical range of road axis or each lane center, sign board is associated to the minimum road of distance or track
Extract the control track road sign spatial positional information, and according to the spatial positional information, by the institute
State control track road sign associate to corresponding track or road.
8. a kind of traffic mark board associated apparatus according to claim 7, it is characterised in that：The extraction control vehicle
The spatial positional information of Dao road signs, and according to the spatial positional information, by control Che Dao roads road sign
Will board is associated to corresponding track or road, including：
Extract it is described control track road sign spatial positional information,
If it is described control track road sign be located at both sides of the road, according to nearby principle, which is associated to space
The nearest road of positional distance,
If it is described control track road sign be located at road top, judge be in the range of the sign board both sides pre-determined distance
It is no also there are other same type sign boards, according to nearby principle, which is associated if there is no if to spatial position distance
Nearest road if the location information according to the sign board in the presence of if, which is associated closest to spatial position
Track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711163394.2A CN108090413A (en) | 2017-11-21 | 2017-11-21 | A kind of traffic mark board correlating method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711163394.2A CN108090413A (en) | 2017-11-21 | 2017-11-21 | A kind of traffic mark board correlating method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108090413A true CN108090413A (en) | 2018-05-29 |
Family
ID=62172643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711163394.2A Pending CN108090413A (en) | 2017-11-21 | 2017-11-21 | A kind of traffic mark board correlating method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108090413A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597411A (en) * | 2018-11-29 | 2019-04-09 | 北京经纬恒润科技有限公司 | Information of vehicles determines method and device |
| CN110501018A (en) * | 2019-08-13 | 2019-11-26 | 广东星舆科技有限公司 | A kind of traffic mark board information collecting method for serving high-precision map producing |
| CN112307977A (en) * | 2020-10-31 | 2021-02-02 | 武汉中海庭数据技术有限公司 | Automatic generation method and device for lane speed limit |
| CN114427876A (en) * | 2021-12-15 | 2022-05-03 | 武汉中海庭数据技术有限公司 | Automatic checking method and system for traffic sign incidence relation |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1145186A2 (en) * | 1998-11-14 | 2001-10-17 | DaimlerChrysler AG | Method for increasing the power of a traffic sign recognition system |
| JP2006038558A (en) * | 2004-07-26 | 2006-02-09 | Denso Corp | Car navigation system |
| WO2006101012A1 (en) * | 2005-03-18 | 2006-09-28 | Pioneer Corporation | Map information update device, map information update method, map information update program, and computer-readable recording medium |
| CN102054354A (en) * | 2010-11-18 | 2011-05-11 | 徐永龙 | Method for semi-automatically collecting and updating electronic map |
| CN102246159A (en) * | 2008-12-09 | 2011-11-16 | 通腾北美有限公司 | Method of generating a geodetic reference database product |
| CN104361350A (en) * | 2014-10-28 | 2015-02-18 | 奇瑞汽车股份有限公司 | Traffic sign identification system |
| CN106525057A (en) * | 2016-10-26 | 2017-03-22 | 陈曦 | Generation system for high-precision road map |
| CN106931976A (en) * | 2015-12-31 | 2017-07-07 | 北京四维图新科技股份有限公司 | A kind of method and device of navigation information updating |
-
2017
- 2017-11-21 CN CN201711163394.2A patent/CN108090413A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1145186A2 (en) * | 1998-11-14 | 2001-10-17 | DaimlerChrysler AG | Method for increasing the power of a traffic sign recognition system |
| JP2006038558A (en) * | 2004-07-26 | 2006-02-09 | Denso Corp | Car navigation system |
| WO2006101012A1 (en) * | 2005-03-18 | 2006-09-28 | Pioneer Corporation | Map information update device, map information update method, map information update program, and computer-readable recording medium |
| CN102246159A (en) * | 2008-12-09 | 2011-11-16 | 通腾北美有限公司 | Method of generating a geodetic reference database product |
| CN102054354A (en) * | 2010-11-18 | 2011-05-11 | 徐永龙 | Method for semi-automatically collecting and updating electronic map |
| CN104361350A (en) * | 2014-10-28 | 2015-02-18 | 奇瑞汽车股份有限公司 | Traffic sign identification system |
| CN106931976A (en) * | 2015-12-31 | 2017-07-07 | 北京四维图新科技股份有限公司 | A kind of method and device of navigation information updating |
| CN106525057A (en) * | 2016-10-26 | 2017-03-22 | 陈曦 | Generation system for high-precision road map |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597411A (en) * | 2018-11-29 | 2019-04-09 | 北京经纬恒润科技有限公司 | Information of vehicles determines method and device |
| CN110501018A (en) * | 2019-08-13 | 2019-11-26 | 广东星舆科技有限公司 | A kind of traffic mark board information collecting method for serving high-precision map producing |
| CN110501018B (en) * | 2019-08-13 | 2021-11-02 | 广东星舆科技有限公司 | Traffic sign information acquisition method for high-precision map production |
| CN112307977A (en) * | 2020-10-31 | 2021-02-02 | 武汉中海庭数据技术有限公司 | Automatic generation method and device for lane speed limit |
| CN114427876A (en) * | 2021-12-15 | 2022-05-03 | 武汉中海庭数据技术有限公司 | Automatic checking method and system for traffic sign incidence relation |
| CN114427876B (en) * | 2021-12-15 | 2023-11-28 | 武汉中海庭数据技术有限公司 | Automatic checking method and system for association relation of traffic sign |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108090413A (en) | A kind of traffic mark board correlating method and device | |
| CN110989661B (en) | Unmanned aerial vehicle accurate landing method and system based on multiple positioning two-dimensional codes | |
| CN109059944B (en) | Motion planning method based on driving habit learning | |
| CN107646114B (en) | Method for estimating lane | |
| US9245188B2 (en) | Lane detection system and method | |
| CN104864889B (en) | A kind of robot odometer correction system and method for view-based access control model | |
| CN103347785B (en) | A kind of unmanned plane automatic recovery method | |
| CN104520675B (en) | Camera parameters arithmetic unit, navigation system and camera parameters operation method | |
| CN107121981A (en) | A kind of AGV line walkings navigation of view-based access control model and localization method | |
| CN106696961A (en) | Control system and method for automatically driving onto and off ramp of freeway | |
| US20170016740A1 (en) | Method and apparatus for determining a vehicle ego-position | |
| CN107992829A (en) | A kind of traffic lights track level control planning extracting method and device | |
| CN108303103A (en) | The determination method and apparatus in target track | |
| CN105021184A (en) | Pose estimation system and method for visual carrier landing navigation on mobile platform | |
| CN110530372A (en) | Localization method, determining method of path, device, robot and storage medium | |
| CN102991681A (en) | Ground target identification method in unmanned aerial vehicle vision landing system | |
| CN110426046A (en) | A kind of unmanned plane independent landing runway zone barrier judgment and tracking | |
| CN105628035B (en) | Walking navigation method and apparatus | |
| CN105674984A (en) | Method for acquiring advancing directions of pedestrians by aid of mobile terminals without constraints | |
| US11440657B2 (en) | Aerial vehicles with machine vision | |
| CN107421540A (en) | A kind of Mobile Robotics Navigation method and system of view-based access control model | |
| CN103697883B (en) | A kind of aircraft horizontal attitude defining method based on skyline imaging | |
| CN103544852A (en) | Method for automatically hanging labels on air planes in airport scene monitoring video | |
| CN107144281A (en) | Unmanned plane indoor locating system and localization method based on cooperative target and monocular vision | |
| EP4042105B1 (en) | Map including data for routing aerial vehicles during gnss failure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180529 |
|
| RJ01 | Rejection of invention patent application after publication |