CN108171129A - Road information recognition methods, terminal device and readable storage medium storing program for executing - Google Patents
Road information recognition methods, terminal device and readable storage medium storing program for executing Download PDFInfo
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- CN108171129A CN108171129A CN201711347874.4A CN201711347874A CN108171129A CN 108171129 A CN108171129 A CN 108171129A CN 201711347874 A CN201711347874 A CN 201711347874A CN 108171129 A CN108171129 A CN 108171129A
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- Prior art keywords
- road information
- road
- information
- default
- mirror assembly
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Classifications
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- 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
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/147—Details of sensors, e.g. sensor lenses
Abstract
The invention discloses a kind of road information recognition methods, terminal device and readable storage medium storing program for executing, the method for obtaining road information includes the following steps：Direct road information is obtained, and whether default road mirror assembly is installed in effective identification range based on direct road information detection sensor by vehicle sensors；If detecting default road mirror assembly is installed in effective identification range, indirect road information is obtained by default road mirror assembly；Comprehensive road information is obtained with reference to direct road information and indirect road information, judges whether vehicle has the threat of driving safety based on comprehensive road information.The present invention on road periphery by installing mirror assembly so that the detection range of sensor increases, and so as to the road information on effective detection of complex road surface, and driver is reminded according to road information.
Description
Technical field
The present invention relates to road surface identification technology field more particularly to a kind of road information recognition methods, terminal device and
Readable storage medium storing program for executing.
Background technology
With the development of technology, the road Identification of automobile is also more ripe, and obtaining road by sensors such as cameras believes
Breath, is then analyzed, can accurately be obtained road information, but road Identification can give full play to effect on straight road surface
Fruit, and then, by various limitations, can lead to not accurately and effectively carry out the identification of road information in complicated road, such as hand over
Cross road mouth, climb and fall and turning crossing etc..Complicated road conditions can influence the detection range of sensor, increase sensor
Check frequency so that sensor can not detect the risk factor in road in time, so as to being impacted to driving safety.
Invention content
It is a primary object of the present invention to provide a kind of road information recognition methods, it is intended to solve because vehicle installation is taken the photograph
The technical issues of vehicle driving safety as caused by head can not obtain more comprehensive road information is affected.
To achieve the above object, the present invention provides a kind of road information recognition methods, the method for obtaining road information packet
Include following steps：
Direct road information is obtained, and based on effective identification of direct road information detection sensor by vehicle sensors
In the range of whether default road mirror assembly is installed；
If detecting default road mirror assembly is installed in effective identification range, is obtained by default road mirror assembly
Take indirect road information；
Comprehensive road information is obtained with reference to direct road information and indirect road information, is sentenced based on comprehensive road information
Whether disconnected vehicle has the threat of driving safety.
Optionally, it is described to obtain direct road information by vehicle sensors, and based on direct road information detection sensing
The step of whether being equipped with default road mirror assembly in effective identification range of device includes：
Direct road information is identified by computerized algorithm, detect whether include in direct road image in advance
If the corresponding pictorial element of road mirror assembly.
Optionally, if described detect is equipped with default road mirror assembly in effective identification range, by presetting road
The step of road mirror assembly acquisition indirect road information, includes：
The corresponding pictorial element of default road mirror assembly is obtained, and technology is carried out to described image element and is corrected between obtaining
Connect road information.
Optionally, it is described to obtain the corresponding pictorial element of default road mirror assembly, and skill is carried out to described image element
It is further included after the step of art is corrected to obtain indirect road information：
It identifies the image information in indirect road information, obtains direct road information with being preset in indirect road information to row
Sailing safety has dysgenic risk factor.
Optionally, the direct road information of the combination obtains comprehensive road information with indirect road information, based on comprehensive road
Road information judges that the step of whether vehicle has the threat of driving safety includes：
Judge whether vehicle has the threat of driving safety according to the current parameter of vehicle and comprehensive road information.
Optionally, the parameter current according to vehicle and comprehensive road information judge whether vehicle has traveling to pacify
The step of full threat, includes：
Hazard index is calculated according to vehicle parameter and with risk factor, the risk factor is by identifying that road image is believed
Breath obtains；
When hazard index is worth more than default police and is less than default serious early warning value, then warning information is exported.
Optionally, it is described when hazard index is more than default alert value and less than serious early warning value is preset, then export early warning letter
It is further included after the step of breath：
When hazard index is greater than or equal to serious early warning value and is less than preset danger value, then warning message is exported.
Optionally, the hazard index of working as is greater than or equal to serious early warning value and less than preset danger value, then exports warning
It is further included after the step of information：
When hazard index is more than preset danger value, then safety precautions is performed.
In addition, to achieve the above object, the present invention also provides a kind of terminal device, the terminal device includes：Memory,
Processor and the road information recognizer that can be run on the memory and on the processor is stored in, the road letter
The step of breath recognizer realizes road information recognition methods as described above when being performed by the processor.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
The road information recognizer stored on storage medium realizes as above institute when the road information recognizer is executed by processor
The step of road information recognition methods stated.
Road information recognition methods proposed by the present invention is filled by installing minute surface in the designated position of specific complicated highway section
Put, come cause vehicle pass through complicated highway section when, can according to mirror assembly reflect image information come obtain vehicle sensors without
The road information that method is directly collected increases vehicle and satisfies the need the detection range identified to information, and allow the operator to shift to an earlier date
Know risk factor of the road in, make avoiding action, system can also according to the operating parameter of vehicle and detect it is dangerous because
Element sends out corresponding danger early warning with performing safety measure, comes support vehicles and the safety of driver and passenger.
Description of the drawings
Fig. 1 be the hardware running environment that the embodiment of the present invention is related to terminal apparatus structure schematic diagram；
Fig. 2 is the flow diagram of one embodiment of road information recognition methods of the present invention；
The refinement flow diagram for the step of Fig. 3 is S20 in another embodiment of road information recognition methods of the present invention；
Fig. 4 is that bend section camera increases detection range by mirror assembly in road information recognition methods of the present invention
Schematic diagram of a scenario.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in Figure 1, the terminal structure schematic diagram for the hardware running environment that Fig. 1, which is the embodiment of the present invention, to be related to.
Terminal of the embodiment of the present invention is automobile computer,
As shown in Figure 1, the terminal can include：Processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is used to implement the connection communication between these components.
User interface 1003 can include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 can optionally connect including the wired of standard
Mouth, wireless interface (such as WI-FI interfaces).Memory 1005 can be high-speed RAM memory or the memory of stabilization
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
Optionally, terminal can also include camera, RF (Radio Frequency, radio frequency) circuit, sensor, audio
Circuit, WiFi module etc..Wherein, sensor such as optical sensor, motion sensor and other sensors.Specifically, light
Sensor may include ambient light sensor and proximity sensor, wherein, ambient light sensor can according to the light and shade of ambient light come
The brightness of display screen is adjusted, proximity sensor can close display screen and/or backlight when mobile terminal is moved in one's ear.As
One kind of motion sensor, gravity accelerometer can detect in all directions the size of (generally three axis) acceleration, quiet
It can detect that size and the direction of gravity when only, the application that can be used to identify mobile terminal posture is (such as horizontal/vertical screen switching, related
Game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap) etc.；Certainly, mobile terminal can also match
The other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared ray sensor are put, details are not described herein.
It will be understood by those skilled in the art that the restriction of the terminal structure shown in Fig. 1 not structure paired terminal, can wrap
It includes and either combines certain components or different components arrangement than illustrating more or fewer components.
As shown in Figure 1, it can lead to as in a kind of memory 1005 of computer storage media including operating system, network
Believe module, Subscriber Interface Module SIM and road information recognizer.
In terminal shown in Fig. 1, network interface 1004 is mainly used for connecting background server, is carried out with background server
Data communicate；User interface 1003 is mainly used for connecting client (user terminal), with client into row data communication；And processor
1001 can be used for calling the road information recognizer stored in memory 1005, and perform following operate：
Direct road information is obtained, and based on effective identification of direct road information detection sensor by vehicle sensors
In the range of whether default road mirror assembly is installed；
If detecting default road mirror assembly is installed in effective identification range, is obtained by default road mirror assembly
Take indirect road information；
Comprehensive road information is obtained with reference to direct road information and indirect road information, is sentenced based on comprehensive road information
Whether disconnected vehicle has the threat of driving safety.
Further, processor 1001 can call the road information recognizer stored in memory 1005, also perform
It operates below：
Direct road information is identified by computerized algorithm, detect whether include in direct road image in advance
If the corresponding pictorial element of road mirror assembly.
If described detect is equipped with default road mirror assembly in effective identification range, filled by default road minute surface
The step of obtaining indirect road information is put to include：
The corresponding pictorial element of default road mirror assembly is obtained, and technology is carried out to described image element and is corrected between obtaining
Connect road information.
It is described to obtain the corresponding pictorial element of default road mirror assembly, and technology is carried out to described image element and is corrected
It is further included to after the step of indirect road information：
It identifies the image information in indirect road information, obtains direct road information with being preset in indirect road information to row
Sailing safety has dysgenic risk factor.
Further, processor 1001 can call the road information recognizer stored in memory 1005, also perform
It operates below：
Judge whether vehicle has the threat of driving safety according to the current parameter of vehicle and comprehensive road information.
The parameter current according to vehicle and comprehensive road information judge whether vehicle has the prestige of driving safety
The step of side of body, includes：
Hazard index is calculated according to vehicle parameter and with risk factor, the risk factor is by identifying that road image is believed
Breath obtains；
When hazard index is worth more than default police and is less than default serious early warning value, then warning information is exported.
It is described when hazard index is more than default alert value and less than serious early warning value is preset, then the step of exporting warning information
It further includes later：
When hazard index is greater than or equal to serious early warning value and is less than preset danger value, then warning message is exported.
The hazard index of working as is greater than or equal to serious early warning value and less than preset danger value, then exports the step of warning message
It is further included after rapid：
When hazard index is more than preset danger value, then safety precautions is performed.
With reference to Fig. 2, first embodiment of the invention provides a kind of road information recognition methods, the road information recognition methods
Including：
Step S10 obtains direct road information, and based on direct road information detection sensor by vehicle sensors
Whether default road mirror assembly is installed in effective identification range；
Specifically, a certain range of pavement image information can be obtained by camera, and camera gets road surface
After image information, whether by the processing of computer, can identify in pavement image has the minute surfaces such as mounted mirror dress
It puts.
Step S20 is equipped with default road mirror assembly if detecting in effective identification range, by presetting road mirror
Face device obtains indirect road information；
Specifically, it detects when having mirror assembly in the image information of acquisition, then shows in the detection range of camera
Mirror assembly is installed, obtains the image information reflected in mirror assembly, and analyzes and whether has in the image acquisition road of reflection
The road informations such as the distance of risk factor and current vehicle and risk factor.
Step S30 is obtained comprehensive road information with reference to direct road information and indirect road information, is believed based on comprehensive road
Breath judges whether vehicle has the threat of driving safety.
Specifically, it will judge that current vehicle continues whether traveling can have an impact traveling peace by analyzing obtained road information
Full security threat if there is the threat of driving safety, then exports counte-rplan to avoid dangerous generation according to security threat.
In the technologies such as automatic driving and ride safety of automobile, it is required for accurately obtaining the road information of road,
And current road information identification technology is mainly to install the sensings such as camera, range sensor by the specific position in vehicle
Device device is collected road information, and then the road conditions of road pavement are identified and judge.And due to by camera etc.
The characteristic limitation of sensor so that road surface identification can only be got the figure in front of its position by various limitations, such as camera
As information, and when road conditions are complex, such as intersection, the turning special road sections such as crossing and climb and fall section,
Whole road informations can not be then directly obtained, therefore the performances such as driving safety are impacted, current road Identification
In technology, for the road dead angle that can not be taken with camera, also not preferable solution.This also has led to road
Identification good can only can play on the preferable forthright of surface conditions, and then have larger limitation in complicated highway section,
It is unable to give full play the function of road Identification.
Road information recognition methods of the present invention, in order to solve that road information knowledge also can be effectively carried out in complicated road
Not, it is a kind of device for having image reflection function by setting mirror assemblies, the mirror assembly such as mirror in roadside, not day
The often mirror in life, because mirror assembly needs to be mounted on outdoor road periphery, use environment is more severe, it is therefore desirable to
Increase service life, and can be by the way that surface is designed to the forms such as convex surface using special material or by special processing
To increase the performances such as the visual range of mirror assembly so that mirror assembly can play better effect in use.It will camera shooting
The road information that head can not be directly obtained, is reflected by mirror so that camera can get additional road letter
Breath identifies to carry out more comprehensively road surface.By installing mirror in way periphery designated position, the knowledge of camera is enabled to
Other range is effectively increased, particularly the blind areas such as turning, and can recognize barrier, the vehicle travelled etc. in advance may cause
The surface conditions of driving safety.Such as on a turn road surface, camera is only able to detect the road information of vehicle front, and nothing
Method detects whether the road surface after turning round has and carrys out the road informations such as vehicle, and driver can only be after turning by visually satisfying the need
Planar condition judged, and speed is if very fast, encounter need avoidance situation when, be susceptible to avoidance not in time, lead
Cause dangerous generation.And the mirror of a proper angle is set around the corner, then camera can indirectly be obtained by mirror
The road information (schematic diagram of a scenario such as Fig. 4) in the section after turning round is got, by combining the road information obtained in mirror with taking the photograph
As the road ahead information that head obtains, there can be more comprehensive road conditions to judge to entire section, it is possible to prevente effectively from traffic accident etc.
Dangerous generation.
Pavement image information can be obtained by camera, however camera can only play most on straight road
Big effect.More in bend, during the road of road conditions complexity, the visual field of camera will be greatly affected, and the visual field is by shadow
Sound can lead to not timely get effective road information, so that normal drive.And by roadside specific bit
Installation mirror assembly is put, camera can effectively expand detection range, and the image reflected by sensor and mirror assembly is believed
It ceases further to get the image information in camera view blind area.Mirror assembly can be mirror or other tools
There is the device of mirror reflection effect, mirror assembly will be mounted on the designated position of special road section, such as when turning section, take the photograph
As head can not bypass the road information in section behind corner, therefore driver has to small meticulous driving.And pass through minute surface
Device, camera can get the pavement image behind turning, and by analyzing image, and what can quickly be arrived is whole
The whole road information on a road surface.And it also is able to the corresponding hedging of control car running computer progress by obtaining whole road information
Operation.
The installation site of mirror assembly can be configured according to the difference of road conditions, and the parameters such as angular dimension can be into
Road information as much as possible should can be reflected to and sail the vehicle for coming direction by row adjustment, mounted mirror assembly, and
The road information of reflection is clear and legible to be recognized, and can thus make up the deficiency of camera view blind area as far as possible.And minute surface
Device Costco Wholesale is relatively low, and service life is long, it is only necessary to and the very long time can just be used by carrying out simple protection processing, and
And usually without frequently being safeguarded, so whole hardware and cost of labor does not have and is significantly promoted.
Camera can identify mirror assembly in the mirror assembly for taking roadside setting by computerized algorithm,
Then further the image reflected in mirror assembly is obtained.The reflected image of acquisition is in camera blind area
Road information analyzes the image of reflection, and judging whether there is vehicle, road obstacle etc. influences the factor of normal pass,
And according to the different information detected, corresponding countermeasure is performed, such as remind user, slowed down, brake etc. comes
The driving safety of support vehicles.By installing mirror assembly in some special road sections, it can effectively increase vehicle for road
The detection range of information, and avoid the security risk that the cameras detection dead angle such as turning crossing is brought so that road information
The use scope bigger of identification, the security performance of vehicle are also improved.
Further, step S10 obtains direct road information by vehicle sensors, and is detected based on direct road information
Whether default road mirror assembly is installed to include in effective identification range of sensor：
Whether step S11 is identified direct road information by computerized algorithm, detects in direct road image and wrap
Containing with the default corresponding pictorial element of road mirror assembly.
Specifically, by computer learning algorithm, the pavement image that camera is got is identified, detects direct road
Whether the pictorial element that meets default road mirror assembly is had in the image of road information, so as to judge whether be equipped in the road
Mirror assembly.
Need the range identified by mirror assembly increase road information, it is necessary first to can be from the information of road surface detected
In accurately identify with the presence or absence of mirror assembly, mirror assembly can set some for image primitives for being identified when mounted
Element facilitates vehicle quickly to identify mirror assembly.After recognizing there are mirror assembly, then it can obtain in mirror assembly
Then the road information of reflection is analyzed the road information of reflection, finally obtain more fully with perfect road information.
And identify the mirror assemblies such as mirror, it can be completed by computer learning algorithm, therefore can be with by computer learning algorithm
Judge that the section whether there is mirror assembly.
Further, reference Fig. 3, if step S20, which is detected, is equipped with default road mirror assembly in effective identification range,
Then indirect road information is obtained by default road mirror assembly to include：
Step S21 obtains the corresponding pictorial element of default road mirror assembly, and carries out technology to described image element and repair
Just obtaining indirect road information.
Specifically, after getting the initial pictures reflected in mirror assembly, directly road can not be carried out by initial pictures
The identification of information is needed to that can be used after the modified processing of initial pictures progress technology.Because the initial graph of mirror assembly
As being made a big difference compared with true picture, maximum difference is that initial pictures are reversed left to right, thus directly by when
Image carries out the identification of road information, it may appear that situations such as information errors.And the parameters such as the size of initial pictures be also required to through
The standard requirement of road Identification can be reached later by crossing technology amendment.So initial pictures in mirror assembly has been got
Afterwards, by technology amendment, first by the carry out technology amendment of initial pictures, until initial pictures meet the mark of road information identification
Standard, to carry out subsequent road information when, are other.
Further, step S21 obtains the corresponding pictorial element of default road mirror assembly, and to described image element into
Row technology is corrected to further include after obtaining indirect road information：
Step S22 identifies the image information in indirect road information, obtains in direct road information and indirect road information
It is default to have dysgenic risk factor to driving safety.
Specifically, the amendment image obtained after initial pictures technology amendment is analyzed by algorithm, identifies correction map
Barrier as in etc. causes current vehicle driving safety dangerous risk factor.
It after image is modified by algorithm during the place of mirror assembly, obtains correcting image, analyze correcting image,
Whether corrected in image comprising having an impact the risk factor of driving safety including detection, for example, automobile, barrier, slope change compared with
Big road etc..And risk factor and the distance of current vehicle are analyzed, may determine that according to the distance with risk factor
Go out the information of road degree of danger, by obtained road information, driver or vehicle is helped preferably to pass through complicated road
Section.
Further, step S30 combines direct road information and obtains comprehensive road information with indirect road information, based on complete
Face road information judges that the step of whether vehicle has the threat of driving safety includes：
Step 31, judge whether vehicle has driving safety according to the current parameter of vehicle and comprehensive road information
It threatens.
Specifically, after obtaining road information, height is passed through according to the operating parameter of current vehicle, such as speed per hour, weight, minimum
The data such as degree judge whether risk factor can generate security threat.
Risk factor present in the road of detection of complex first, such as the apparent barrier in the vehicle come, road is sailed in opposite directions
Hinder object etc..Then according to the design parameter for combining current vehicle, judge the peace that the risk factor in road is brought to current vehicle
It is complete to threaten.Such as the barrier of a height 50cm among road, it is minimum by height for 50cm car by when may
Vehicle can be caused to damage or occur safety accident, therefore with larger security threat.It is and minimum larger by way of example
Offroad vehicle by when, then will not cause apparent influence；In another example there are one impassable barriers at 100 meters, work as vehicle
For speed in 10km/h, speed is slower, and having the sufficient reaction time, (i.e. vehicle progress brake operation rear vehicle is subtracting with braking distance
The distance of the process traveling of speed) operations such as slowing-down brake are carried out, therefore security threat is told somebody what one's real intentions are.And when speed is 50km/h, vehicle
Fast very fast, braking distance is longer, therefore the reaction time is shorter, and security threat is larger.When therefore judging whether there is security threat, need
The parameter that combine current vehicle is judged.It thus can accurately obtain real security threat.
Further, step S31 judges whether vehicle has according to the current parameter of vehicle and comprehensive road information
The threat of driving safety includes：
Step S311 calculates hazard index according to vehicle parameter and with risk factor, and the risk factor passes through identification
Road image acquisition of information；
Step S312 when hazard index is worth more than default police and is less than default serious early warning value, then exports warning information.
Specifically, the current hazard index of vehicle is calculated according to the data such as vehicle operating parameters and risk factor, it is dangerous
Index is to weigh whether vehicle has one numerical value of threat of driving safety, is less than in advance when hazard index is more than preset early warning value
If grave warning value, then show the certain threat of vehicle current driving security presence, therefore export warning information.
According to the parameter of vehicle and the road information detected, estimated braking distance can be calculated, braking time, led to
It crosses possibility, collide the data such as possible, obtained aggregation of data can be obtained into hazard index.Hazard index shows that vehicle passes through road
The possibility size of road hazard behavior occurs for Duan Shi, and hazard index is bigger, then the possibility that road hazard behavior occurs is got over
Greatly.Therefore by the size of hazard index, different information output is carried out, driver is reminded to pay attention to driving safety.And when danger
Dangerous index is more than preset early warning value and during less than serious early warning value, and expression may cause danger behavior, need to remind and drive
The person of sailing pays attention to road safety, therefore exports warning information by information output apparatus such as loud speakers and remind user's deceleration jogging, and
Pay attention to road safety.
Further, step S312 is then exported when hazard index is worth more than default police and is less than default serious early warning value
It is further included after warning information：
Step S313 when hazard index is greater than or equal to serious early warning value and is less than preset danger value, then exports warning
Information.
Specifically, when hazard index is more than default serious early warning value and less than preset danger value, then show that vehicle is current
Driving safety exports warning message there are serious threat.
When hazard index is more than default serious early warning value, show that the driving safety of vehicle receives serious threat, driver
It must be noted that security risk caused by the risk factor in road, and reduce speed, and sail out of Dangerous Area as early as possible, keep away
Exempt from the safety accident occurred, therefore export warning message and remind user.
Further, step S313 works as hazard index and is greater than or equal to serious early warning value and less than preset danger value, then defeated
Go out warning message to further include later：
Step S314 when hazard index is more than preset danger value, then performs safety precautions.
Specifically, when hazard index is more than preset danger value, then show that safety accident may currently occur at any time for vehicle,
Therefore vehicle and the safety of driver and passenger are protected by performing safeguard measure.
When hazard index is more than preset danger value, show that the current travel situations of vehicle are abnormally dangerous, it at any time may hair
Raw safety accident, according to vehicle parameter, performing reduces speed, brake, changes the measures such as travel direction to avoid safety accident
Occur, as far as possible the safety of support vehicles and driver and passenger.
The present invention also provides with a kind of terminal device of road information recognition methods.
Terminal device the present invention is based on road information recognition methods includes：Memory, processor and it is stored in described deposit
On reservoir and the road information recognizer that can run on the processor, the road information recognizer is by the processing
Device realizes road information recognition methods step as described above when performing.
Wherein, the road information recognizer run on the processor is performed realized method and can refer to this
The each embodiment of invention road information recognition methods, details are not described herein.
In addition the embodiment of the present invention also proposes a kind of computer readable storage medium.
Road information recognizer, the road information recognizer are stored on computer readable storage medium of the present invention
The step of road information recognition methods as described above is realized when being executed by processor.
Wherein, the road information recognizer run on the processor is performed realized method and can refer to this
The each embodiment of invention road information recognition methods, details are not described herein.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements not only include those elements, and
And it further includes other elements that are not explicitly listed or further includes intrinsic for this process, method, article or system institute
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
Also there are other identical elements in the process of element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be embodied in the form of software product, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions use so that a station terminal equipment (can be mobile phone,
Computer, server, terminal device or network equipment etc.) perform method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of road information recognition methods, which is characterized in that the method for obtaining road information includes the following steps：
Direct road information is obtained, and based on effective identification range of direct road information detection sensor by vehicle sensors
Whether default road mirror assembly is inside installed；
If detecting default road mirror assembly is installed in effective identification range, between being obtained by default road mirror assembly
Connect road information；
Comprehensive road information is obtained with reference to direct road information and indirect road information, vehicle is judged based on comprehensive road information
Whether there is the threat of driving safety.
2. road information recognition methods as described in claim 1, which is characterized in that described to be obtained directly by vehicle sensors
Road information, and whether default road minute surface dress is installed in effective identification range based on direct road information detection sensor
The step of putting includes：
Direct road information is identified by computerized algorithm, detects and whether includes in direct road image and default road
The corresponding pictorial element of road mirror assembly.
3. road information recognition methods as described in claim 1, which is characterized in that if described detect in effective identification range
The step of being equipped with default road mirror assembly, then obtaining indirect road information by default road mirror assembly includes：
The corresponding pictorial element of default road mirror assembly is obtained, and technology is carried out to described image element and corrects to obtain indirect road
Road information.
4. road information recognition methods as claimed in claim 3, which is characterized in that described to obtain default road mirror assembly pair
The pictorial element answered, and described image element is carried out to further include after the step of technology is corrected to obtain indirect road information：
It identifies the image information in indirect road information, obtains direct road information and traveling is pacified with being preset in indirect road information
There is dysgenic risk factor entirely.
5. road information recognition methods as described in claim 1, which is characterized in that the direct road information of combination with indirectly
Road information obtains comprehensive road information, judges whether vehicle has the step of the threat of driving safety based on comprehensive road information
Suddenly include：
Judge whether vehicle has the threat of driving safety according to the current parameter of vehicle and comprehensive road information.
6. road information recognition methods as claimed in claim 5, which is characterized in that the parameter current according to vehicle and
Comprehensive road information judges that the step of whether vehicle has the threat of driving safety includes：
Hazard index is calculated according to vehicle parameter and with risk factor, the risk factor is by identifying that road image information obtains
It takes；
When hazard index is worth more than default police and is less than default serious early warning value, then warning information is exported.
7. road information recognition methods as claimed in claim 6, which is characterized in that described when hazard index is more than default alert value
And during less than presetting serious early warning value, then further included after the step of exporting warning information：
When hazard index is greater than or equal to serious early warning value and is less than preset danger value, then warning message is exported.
8. road information recognition methods as claimed in claim 7, which is characterized in that described when hazard index is greater than or equal to sternly
It is further included after the step of weighing early warning value and being less than preset danger value, then export warning message：
When hazard index is more than preset danger value, then safety precautions is performed.
9. a kind of terminal device, which is characterized in that the terminal device includes：Memory, processor and it is stored in the storage
On device and the road information recognizer that can run on the processor, the road information recognizer is by the processor
It is realized during execution such as the step of road information recognition methods described in any item of the claim 1 to 8.
10. a kind of computer readable storage medium, which is characterized in that road letter is stored on the computer readable storage medium
Recognizer is ceased, is realized when the road information recognizer is executed by processor as described in any item of the claim 1 to 8
The step of road information recognition methods.
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